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Project OSCAR - Autonomous Robot Demonstration for Visitors

Project OSCAR is an exciting demonstration of the technological capabilities of the university's students. The project aims to improve the power system, drive train, software, end effector, and navigation using SONAR. It will provide demonstrations to visitors and potential students.

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Project OSCAR - Autonomous Robot Demonstration for Visitors

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  1. Ongo-01 Project OSCAR

  2. Zachary Kotlarek David Hawley Michael Larson Justin Rasmussen Gavin Ripley Peter Rufino Jason Sytsma Kevin Cantu Phil Derr Jawad Haider Jeff Parent Project OscarFall 2004 Client Department of Electrical and Computer Engineering Faculty Advisor Ralph Patterson III Team Members CprE 492 CprE 492 EE 492 CprE 492 CprE 492 EE 492 EE 492 EE 491 EE 491 EE 491 CprE 491 Presentation Date January 27, 2005

  3. Project OscarPresentation Overview Initial Information Mike Project Introduction Gavin Description of Activities Justin, Jason, Zach, David, & Mike Resources and Schedules Gavin Summary Justin

  4. Project OscarList of Definitions • OSCAR Octagonal Speech-Controlled Autonomous Robot • CVS Concurrent versions system • Cybot The predecessor to OSCAR • drive train The assembly of electrically controlled motion elements, including the robot’s wheels, gears, belts, and tachometers • End effector The assembly of electrically controlled mechanical arm and gripper • Ethernet A computer network technology for local area networks • GUI Graphical user interface • Linear bearing A rolling element that moves on a straight track • SONAR Sound navigation and ranging • Tachometer A device for indicating speed of rotation

  5. Project Introduction

  6. Project IntroductionProblem Statement General Problem Statement To capture the interests of visitors and potential students, the university needs an exciting demonstration of the technological capabilities of its students. Last Semester’s Needs • New power system • Improve drive train • Easier to use software • Navigation using SONAR • New robotic end effector General Solution Approach • Recreate entire power delivery system • Understand and improve existing software base • Design a more suitable end effector • Develop intelligent coordination of SONAR and drive motion • Give several robot demonstrations to visitors each semester

  7. Project IntroductionOperating Environment • Indoors (Outdoors with ideal weather) • Temperature between 32oF – 100oF • Flat surfaces • If obstacles are present, they must be at least 2.5 feet high to be detected

  8. Project IntroductionIntended Users and Uses • Users • Project OSCAR team members • Trained demonstrators • Supervised non-technical users • Uses • Demonstrate to campus visitors • Robot speaks to operators and audience • Manual control from a remote PC • Autonomous navigation through a room or corridor • Pick up and place objects • Respond to spoken commands

  9. Project IntroductionAssumptions and Limitations • Assumptions • Demonstrations last less than one hour • Technical supervisors present during operation • Operators speak English • Limitations • Software must run in Mandrake Linux • SONAR range is 0.5 – 35 feet • Wireless Ethernet within 328 feet • Must fit through a standard 30-inch doorway • Power supply must be rechargeable • End effector must fit within top module

  10. Project IntroductionEnd Product • Full drive motion capability • Interaction with users via speech recognition software and speech output • GUI-driven software package • Wireless connection • Manual motion control • Speech output • Room/corridor navigation • Script recording and playback • Externally rechargeable power supply

  11. Project IntroductionOther Deliverables • End-user operation instructions • Power system and recharging instructions • Software user’s guide • Power system specifications and schematic • SONAR array specifications and schematics

  12. Description of Activities

  13. Description of ActivitiesPrevious Accomplishments • Command-line speech output • New motor control for drive motion • End effector assembly was made lighter • Project website was redesigned • Partial description of navigation algorithm

  14. Description of ActivitiesPresent Accomplishments • Rebuild power delivery system • Reroute wiring • Install interface panels • Consider power inversion and conversion methods • Purchase and install new battery • Create schematics and user’s manual • Improve software architecture • Document existing software • Develop wireless control interface • Develop GUI to control the robot wirelessly • Test and document new software

  15. Description of ActivitiesPresent Accomplishments • Create reference base for SONAR array • Build façade for chassis • Improve drive train • Fix belt slipping • Design tachometer circuitry • Redesign end effector (robotic arm) • Maintains layered architecture • Establish documentation standard

  16. Description of ActivitiesProject Definition

  17. Description of ActivitiesProject Definition * List has been truncated to fit in this space

  18. Description of ActivitiesProject Definition Tasks grouped under milestones to assign overall priority

  19. Description of ActivitiesResearch • Power conversion • Current power inverter (DC/AC) is not rated to supply necessary power to computer. • Many alternative products considered. • DC ATX power supply is too expensive. • DC/DC converter cannot supply computer’s demand. • New DC/AC inverter is the best solution. Purchase of new inverter delayed until this semester.

  20. Description of ActivitiesResearch Available solutions Integrated motion control package (LM62xN, HCTL-20xx) • EXPENSIVE Computer-based control (Java or LabVIEW) • Have to create software algorithm (takes time) • Pentium II with Linux Create own circuit • Speed: Frequency-to-voltage converter • Direction: Phase decoder

  21. Description of ActivitiesResearch

  22. Description of ActivitiesDesign Tachometer Interface

  23. Description of ActivitiesDesign • Power system • Power demand identified • Safety measures implemented • Schematic developed

  24. Description of ActivitiesImplementation • Power system • Schematic followed • Moving objects avoided • Wires organized and secured to chassis

  25. Description of ActivitiesImplementation • Power system • End user accesses battery through interface panel • Battery charger modified

  26. Description of ActivitiesImplementation • Drivetrain Modification • Existing Drivetrain exhibited wheel ‘slop’ and belt rubbing • Cause was found to be poor bushing system • Loose bearing allowed wheel to slide and translate • Solution: a press fit polymer bearing to eliminate all unwanted motion

  27. Description of ActivitiesDesign Software Architecture • Previous code updated and extended • Layers of abstraction added to the previous design • Wireless adapter added • Operating system upgraded to Mandrake v.10.1 • Network communication protocol designed

  28. Description of ActivitiesImplementation GUI and wireless adapters Functionality is divided into four main sections • Movement Controls • Speech • Sensor display • Scripts D-Link Wireless Adapter

  29. Description of ActivitiesImplementation • GUI connects to OSCAR’s onboard PC from a remote desktop • Onboard PC sends commands to sensors, motor controller, and end effector • Feedback is sent back to the GUI

  30. Description of ActivitiesDesign • End effector • Previous design was unacceptable • Design Constraints • Size (Layers) Total Cost-Reuse old system components • Retractable ‘Buildable’ • Design Features • Retracting/Pivoting Shoulder • Elbow Joint • Wrist Pivot • Locking Wrist

  31. Description of ActivitiesImplementation Façade and Lock System • A simple and cost-effective look for OSCAR • Cam Lock system prevents theft and damage of OSCAR’s internals

  32. Description of ActivitiesProject Documentation • Technical appendices added to standard project documents • Technical drawings • Electrical specifications • Technical methods used • User’s Manual • CVS repository utilized • Filing cabinet reorganized • Paper copies of all documentation filed • CD hard backup of files left with Prof. Patterson • Project tracking template

  33. Description of ActivitiesTesting and Modification • SONAR testing • Verify the operation of the model 6500 SONAR modules • Measure the time required for the ECHO signal

  34. Description of ActivitiesFuture Required Activities • Current feature set to be fully implemented before developing new features • Remote and auto drive motion • Remote and auto end effector • Auto navigation and object avoidance • Speech command input

  35. Resources and Schedules

  36. Resources and SchedulesPersonnel Efforts Additional resources: • Visitor demonstrations • Project planning and tracking • Troubleshooting SONAR array

  37. Resources and SchedulesFinancial Requirement

  38. Resources and SchedulesFinancial Requirement Donated Resources • Power system materials • Various gauges of wire • Wire ties and labels • Wireless Ethernet card (x2) • 27GB hard drive

  39. Resources and SchedulesProject Schedule • Ambitious schedule • Tasks collected into groups • Milestones are group deadlines • First demonstration Oct 19 • Class presentation Nov 18 • Industrial review Dec 7

  40. Summary

  41. SummaryLessons Learned What went well • Acquiring materials • Software development • Design of the end effector • Demonstrations What did not go well • Unanticipated hardware flaws (SONAR array) What technical knowledge was gained • Operation of frequency-to-analog converters, digital-to-analog converters, and BasicX microcontrollers • Writing and rewriting sections of the code base • Use of Microsoft Project, AutoCAD, SolidWorks

  42. SummaryLessons Learned What non-technical knowledge was gained • Proper documentation methods • Effort coordination What would be done differently if you could do it over again • Plan development time for sensor troubleshooting • Accurately determine end product status before planning project

  43. SummaryRisks and Risk Management Anticipated potential risks • Ordered parts do not arrive on time Solution: Allow extra time for delivery • Failure to complete assigned tasks Solution: Get help from other team members • Cost of development exceeds expectation Solution: Delay purchase or seek alternate solution • Failure to attend a meeting Solution: Take notes and inform absent members Anticipated risks encountered • Failure to complete assigned tasks • Failure to attend a meeting

  44. SummaryRisks and Risk Management Unanticipated risks encountered • Failure of the sensor system Solution: Test all hardware to find defect • Wheel tachometers do not use expected interface Solution: Design an interface circuit for the optical encoders • Code interface could not send any commands to move the robot Solution: Restructure old software using new Java classes Resultant change in risk management Review documentation of past semesters to accurately anticipate risks associated with existing implementation

  45. SummaryClosing Summary • Bring project back on track with purpose and scope • Create useable paper trail for future team members • Substantial, lasting progress to be made in next year of project

  46. Questions?

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