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Introduction

Introduction. Introduction of Robotics at USP Importance to the South Pacific Robotics & Automation Projects at USP Implications of projects on region Robotics & Automation Group Current Project Collaboration prospects Constrain Factors Robotic Frontiers Internationally Summary. 1.

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Introduction

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  1. Introduction • Introduction of Robotics at USP • Importance to the South Pacific • Robotics & Automation Projects at USP • Implications of projects on region • Robotics & Automation Group • Current Project • Collaboration prospects • Constrain Factors • Robotic Frontiers Internationally • Summary 1

  2. Introduction of Robotics at USP • 2001 – Reps from ABU informed USP about the Asia Pacific Robot Contest • Department of Engineering has since represented USP to Japan and Thailand 2

  3. Automation • Joint project of the two streams of the Department of Engineering with one researcher from industry • CNC Based Drilling Machine • Involved final year and PG students • Funded by University Research Committee 3

  4. Importance to Region • Establish a stronger technical base • Save export dollars on purchase of such equipment • Provide employment • Locally trained designers and maintenance personnel • Allows equipment to be tailor made 4

  5. Robotic & Automation Projects DEVELOPMENT CYCLE 5

  6. ROBOCON • Organized by Asia-Pacific Broadcasting Union • It is an intellectual challenging event in which future engineers can realize the importance of thinking originally and making their own machines without being swayed by existing common knowledge. 6

  7. PacSea • Represented USP in Robocon, Japan in 2002 • 1st Robot developed from Scratch in USP • Best Artistic Design Award • Scored the first points of the tournament • Mono-directional, no turns • Controlled using PIC microcontroller 7

  8. PacSea Wave • Represented USP in Robocon Thailand, 2003 • Machine with sensors and does basic line detection • Motion speed control, bi-directional • Machine able to change structural dimensions • Currently the fastest robot 8

  9. PacSea Surge • Will represent USP in Robocon Korea, 2004 • Still under construction • Total cost of project $16,000 (projected) • Much more sophisticated mechanisms and electronics • USP sponsorship for $10,000. 9

  10. Computer Numerical Control (CNC) Drilling Machine • Automation Project • EN300 / EN400 Research Project • Involved both streams of department with one researcher from industry • Fully operational in 2002 • Also incorporates Artificial Intelligence (Neural Networks) • 0.01cm accuracy for automated drilling process • Currently used for Masters research in area of Virtual Enterprise 10

  11. ROVER • Roaming Vehicle for Entity Relocation • Designed for use in manufacturing facilities • Follows optical guide path to maneuver • Loads up to 25kg • Obstacle avoiding capabilities • Controlled using PIC microcontroller 11

  12. Kinetic Manipulator • Pick and Place Robot • Gripper in front to hold workpiece • Eventually lift completed workpiece from the CNC Drill Machine and load on to ROVER • Research On-going. 12

  13. Robotic Platform for Postgraduate Research in Smart Device • EN400 Project • Bi-directional • Obstacle avoidance capabilities • Round- maneuverable • Uses the PIC microcontroller • Ongoing research project in the field of Distributed Processing for Embedded System. 13

  14. Architecture of Robotic Projects • Mechanical • Structure, Motion and tasks (loading/gripping) • Electronics • Control, sensor and actuator interfaces • Software • Control algorithm (link between sensors and actuators) and path plans 14

  15. Software • Incorporates AI • Optimizing • Path Planning • AI ----- Decision Science • Where Optimizing provides best solutions • Path planning helps execute best solutions • Various other paradigms can be implemented depending on the task at hand. 15

  16. Hardware Implementation • Implemented using 2 methods • Enhanced Parallel Port (EPP) mode • Based on IEEE1284 Protocol, developed in-house, implemented on the CNC Drilling Machine • PIC Microcontroller • Isolated from PC, Independent memory and CPU, size of a MARS chocolate bar 16

  17. Implications • Capacity building to develop and sustain robotic & automated equipment locally • Trend • 2001; 1 final year project • 2002; 4 final year projects • 2003; 10 final year projects • 2003; 1 MSc research in Robotics 17

  18. Robotics & Automation Group • Formed in November 2003 to formalise the focus of robotics research activities. • Group is also responsible for organising and administrating the Robocon team and project every year. • Formalize & control the technology development in key areas • Intention is to become the Center for Precision Technology for the industry & the region. 18

  19. Current Project Collaboration Prospect 19

  20. Constrains • Financial • Limits the number of projects that can be taken up, thereby limiting progress • Uninformed industry about local automation activity & expertise. 20

  21. Robotics Frontiers Internationally • Involvement of Industry and corporate organizations • Sony • Honda (Asimo) • Fujitsu • UC Berkley (exoskeleton) • DARPA’s Unmanned Vehicle Program 21

  22. Equipped with CCD camera Real-time Integrated Adaptive Control System Face Recognition (Image processing & AI) 64 bit RISC processor (x2) 64MB DRAM (x2) 16MB Memory Stick Sony’s Entertainment Robot – 2002 "SDR-4X" biped-walking robot 22

  23. Capable of climbing stairs Voice recognition Can see & respond to actions 52kg weight 0.5kg grasp force at fingers Honda’s Asimo humanoid robot – 2000 AdvancedStep in InnovativeMobility 23

  24. Weighs 6kg Height 48cm OS: RT Linux Interface USB 1.0 Developed for sale to research labs Fujitsu Miniature Humanoid Robot, HOAP-1 24

  25. Developed by UC Berkeley’s Robotics and Human Engineering Laboratory Funded by the Defense Advanced Research Projects Agency (DARPA) 3 years to complete Supports 70 pound knapsack weight Intended for military applications ** Other DARPA robotics projects This week DARPA organized a competition with prize money of $1m Unmanned autonomous vehicle race participated by universities in USA UC Berkeley – Exoskeleton 25

  26. Summary • Since introduced to Robotics 3 years ago, • 13 local people (excluding PG’s) have experience in Robotics • Through ROBOCON, recognized internationally as active in Robotics • 4 Journals and Conference proceedings • More under review • Aim is always to do better. 26

  27. Acknowledgements • University Research Committee • SPAS • USP Planning Office • USP Bursary • Asia Pacific Broadcasting Union • Department of Engineering 27

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