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PROJECT HEAD CASE

PROJECT HEAD CASE. Final Presentation. Dan Klowden Jon Burns cse477 – Spring 2000. THE PURPOSE. Provide paraplegics the ability to perform daily tasks such as household chores without assistance. OUR GOALS. Create a robot that can be controlled by head motion and eye movement patterns

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PROJECT HEAD CASE

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  1. PROJECT HEAD CASE Final Presentation Dan Klowden Jon Burns cse477 – Spring 2000

  2. THE PURPOSE Provide paraplegics the ability to perform daily tasks such as household chores without assistance

  3. OUR GOALS Create a robot that can be controlled by head motion and eye movement patterns Wheeled robot that picks up things Helmet control device Wireless communication between helmet and robot A “sampler” of the bigger picture

  4. FINAL SYSTEM DESCRIPTION All goals accomplished! Lego Mindstorm robot Infrared communication Control helmet It works!

  5. SYSTEM OVERVIEW HCU XS-40 Keil µVision Communication Accelerometer Interface 8051 Atmel Microprocessor IR Camera Interface FPGA Xilinx Sim. NQC Robot

  6. ACCELEROMETER INTERFACE Left / Right Head Tilt Accelerometer X, Y Signal to 8051 Forward / Backward Head Tilt

  7. CAMERA INTERFACE

  8. THE ATMEL 8051 Accelerometer X and Y Signals 8051 Wireless Communication To Robot Camera SigChg Signal

  9. ATMEL 8051 – CONT. Integration of all components! Serial Communication Timer2 initializations Serial interrupt settings Lego Protocol Parity bit calculation Organization of packets Accelerometer Interface X,Y interrupts Calibration Camera Interface and the Control State SigChg ACK

  10. CONTROL STATE DIAGRAM • Dependent on SigChg signal from camera interface #1 #2 #3 Wheeled Base Mid Arm Joint, Wrist Spin Clamp, Lower Arm Joint

  11. DESIGN DETAILS Lego RCX Control Routines RCX Command Center NQC Coding Wireless Communication Serial Interface Lego Protocol

  12. THE LEGO RCX RCxCC – The Command Center

  13. LEGO RCX – CONT. /*Sets the power to the motor depending on the tilt*/ void motor_drive(int forwardR,int forwardL, int powerR, int powerL) { if(forwardR) OnRev(OUT_A); else OnFwd(OUT_A); if(forwardL) OnRev(OUT_C); else OnFwd(OUT_C); SetPower(OUT_A,powerR); SetPower(OUT_C,powerL); } Not Quite C

  14. SERIAL COMMUNICATION //Timer 2 DMA locations sfr T2MOD = 0xC9; sfr T2CON = 0xC8; sfr RCAP2L = 0xCA; sfr RCAP2H = 0xCB; //initializations T2MOD = 0x02; T2CON = 0x34; //timer reload values = 65,224 RCAP2H = 0xFE; RCAP2L = 0xC8; // set SMOD to 1 PCON = 0x80; 2400 baud rate Timer 2 generated 16 bit auto-reload (T2MOD=0x02) Re-load value = 65,224 Mode 3 Variable baud rate 9 bit UART Programmable 9th bit (parity)

  15. LEGO PROTOCOL 8 bit data; start and stop bits Not Return to Zero (MAX232) Odd parity Packet Protocol 0x55 0xFF 0x00 0x14 0xEB 0x01 0xFE 0x02 0xFD 0x02 0xFD 0x00 0xFF 0x19 0xE6 Header Variable Value lower byte Checksum Source type (always 2) Command Value upper byte

  16. LEGO PROTOCOL – CONT. Fill Data Buffers Trigger Serial Interrupt Routine Stall Atmel 8051 Invert Parity

  17. ACCOMPLISHMENTS Functional Robot Wireless Communication Eye Pattern Detection Stylish Head Gear…

  18. GOOD / BAD DECISIONS? Lego Mindstorm set was a good investment Included IR tower RCX micro processor RCxCC / NQC easy to code Thresholding image processing of the eye Initial plan to use RC-2, 256K memory

  19. FUTURE IMPROVEMENTS? Eye Pattern Detection FSM robustness issues More patterns to detect? A different approach? Edge detection of pupil? A better camera than the RC-1 would be nice Communication error checking Check response from RCX’s Stronger, better robot

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