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Ambassador Assisting Robot for Armstrong Hall RoScoE: Robot of the School of Engineering

Ambassador Assisting Robot for Armstrong Hall RoScoE: Robot of the School of Engineering. Senior Project Presentation Harrison B illmers Mike DiMeo Andrew Specian Advisors: Dr. Yunfeng (Jennifer ) Wang Dr. Orlando Hernandez.

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Ambassador Assisting Robot for Armstrong Hall RoScoE: Robot of the School of Engineering

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  1. Ambassador Assisting Robot for Armstrong HallRoScoE:Robot of the School of Engineering Senior Project Presentation Harrison Billmers Mike DiMeo Andrew Specian Advisors: Dr. Yunfeng (Jennifer) Wang Dr. Orlando Hernandez

  2. Background: Tours of Armstrong are vital in recruitment… it Can Be Extended • Multimedia Display • Insight into Facilities and Capabilities Objective: Design a collaborative robotic platform to aid in recruitment. Design Objective

  3. Hello My Name Is RoScoE Ambassador Assistant

  4. Safety! • Multimedia Interaction • Body Language • Facial Expressions • Speech Output • Approachable & Friendly Appearance • Mobile • Expandable Design Requirements and Features

  5. Assisting Robot Functions

  6. Robot Safety: • OSHA[1]- Robotics • Awareness Barrier Device • Presence Sensing Devices • Emergency Braking • Audible/Visual Warning • Controls that initiate power or motion are constructed and guarded against accidental operation. Safety Standards

  7. RIA: Collaborative Robotic Standards http://www.plantengineering.com/industry-news/top-stories/single-article/safety-and-control-in-collaborative-robotics/6fec60e21f303fa660c81bb2584236f8.html Evaluate Work Environment

  8. Shared Space Safety • Stop motion in shared space • Plan tour positions with safety in mind A A R Wall R Tour Safety

  9. Key points • Undergraduate Institution. • Wide variety of research and design projects • More ideal classroom size (18-24 students) • Interdisciplinary projects • MUSE Program • State of the art equipment Tour Planning

  10. Safety! • Multimedia Interaction • Body Language • Facial Expressions • Speech Output • Approachable & Friendly Appearance • Mobile • Expandable Mike

  11. Hilare-type configuration • Forward/Reverse direction functionality • 0o turning radius • Stability during operation Wheel Arrangement

  12. 102 lb-ins torque • 94 RPM • Max speed of 6 ft/s • 13.98 A, 12V • 19.1:1 gear reduction • Weigh approximately 14 lbs. Dayton 1Z831 Gearmotor Motor Selection

  13. Aluminum 6063 T-6 Tubing • 6061-T6 Plates • Total height of 4.5 ft • Low center of mass • Vertical HDPE shelf Frame Design

  14. Body Appearance Mori, M.; MacDorman, K.F.; Kageki, N., "The Uncanny Valley [From the Field]," Robotics & Automation Magazine, IEEE , vol.19, no.2, pp.98,100, June 2012

  15. Dolly system • Implementing vibration isolation to electronics • Mounting of arms and head • Design and manufacture of exterior body Senior Project II

  16. Gantt Chart

  17. Safety! • Multimedia Interaction • Body Language • Facial Expressions • Speech Output • Approachable & Friendly Appearance • Mobile • Expandable Andrew

  18. DoFs • Actuation Type • Material Selection [1] Arm Design Considerations

  19. Human Ambassador: 5 • Average Conducting Robot: 2-3 • Conduction Robot Exception: 4 • Decision: 3 • Most Ambassador Arm Motions • Reduce Weight • Extra Servos • Power Consumption Arm Degrees of Freedom

  20. Final Selection

  21. Actuation Decision Matrix

  22. Design Process

  23. Preliminary Design http://www.foamular.com/foam/products/foamular-250.aspx

  24. Final Design

  25. Expandable & Modular

  26. Analysis

  27. Reduce Mass => Increase Control • Less Interia => Less Damage • Foam Insulated Metal • Slow Fluid Motions • Safe Manufacturing Practices Safety

  28. Buy Materials • Manufacturing • Integrate Arm with Frame • Programming Motion • Foam and Shell SP II

  29. Gantt Chart

  30. Safety! • Multimedia Interaction • Body Language • Facial Expressions • Speech Output • Approachable & Friendly Appearance • Mobile • Expandable Harrison

  31. Sensors • Rangers reduce risk of collision • Accelerometer shuts down in rare case of tipping • Kill Relay • Wired to E-Stop and RPi for manual and automatic shutoff • Motion Control • Hard-Coded maximum speed constant • Fused Power Supply Safety Considerations

  32. Runtime • Cost • Space • Complexity • Ease-of-interfacing • Off-the-shelf verses Custom Built Physical Design Considerations

  33. Kill Relay SLA Charger Battery 12v, 60a LEDs Rangers E-Stop Acceler-ometer LLC Rasp. Pi 5v Reg PWM Controller 7.2v Reg Arm Servos LLC Motor Electronic Speed Control Motor 120vac Inverter Speakers Laptop Screen Power Control Presentation Physical Circuitry System

  34. Rasp. Pi LLC Raspberry Pi For all the Physical Control Systems (Interfaces w/ WiiMote and Laptop) Lights Run via SPI, used for warning PWM Controller Runs servos and ESC Rangers Prevent Collisions Accelerometer Stops system incase of tip-over LEDs PWM Controller Rangers Acceler-ometer System(Signal)

  35. Speakers Laptop Screen Main Laptop Runs Face/Speech/Presentation Speakers Used for Speech Output and Warning Touch Screen Displays Face Also allows interaction System(Presentation)

  36. SLA Charger Battery 12v, 70a Sealed Lead Acid batteries Utilized because of high-capacity to price Dual Battery Setup for distributed weight Kill Relay Used to physically cut off power 5 volt regulator Powers the Raspberry Pi and logic circuits 7.2 volt regulator Powers the servos 120VAC Inverter Powers the Laptop, Screen, Speakers Kill Relay 5v Reg 7.2v Reg 120vac Inverter System (Power)

  37. Raspberry Pi Bluetooth Presentation Face Speech LEDs Rangers Laptop Motors/ Servos Accelerometer Software Control Locality

  38. Run Presentation on Facial Screen • Slides, Videos, Photos • Presentation run from MP4 • Videos directly played • Slides are freeze frames Presentation Software

  39. Face run from custom shapes inOpenGL • Allows for smooth, dynamic face • Also allows for 3D models if expanded • Voice generated from eSpeakTTS Library • Utilized touch “buttons” on screen sides for interaction Facial Control

  40. Home Lab Gallery Prototype Face

  41. Start Check WiiMote via Rpi(WiiUse) Check Touch Screen OpenGL Present/ Face Face Present Speech eSpeak Run/Pause Presentation VLC Move Arms via RPi Face OpenGL Program Flowchart

  42. Build System • Over break • Confirm Raspberry Pi system operation • Complete Program System • Libs tested – Finish final integration • Complete by latest Mid-February • Build the first tour • March Future Goals

  43. Gantt Chart

  44. Budget • Tour Planning • Integration • Standards Team Management

  45. Budget

  46. Secure Funding PCJS http://www.ieeeghtc.org/sponsors-exhibitors-2012/ http://www.linuxcertified.com/images/lc2210d-front-left.jpg Funding

  47. Robotics- Undergraduate Division • First Place: Remote Controlled Robotic Firefighting System–College of New Jersey ASME Competition

  48. Mike Dimeo (ME) • Drivetrain • Frame Design • Protective Case for the Electronics • Appearance Aesthetics • Harrison Billmers (ECE) • Facial Animation and Motor Control • Drive Motor Control with Navigation • Multimedia Interface • Andrew Specian (ME) • Project Manager • Arm Design • Media Collection and Tour Planning http://tcnjroscoebot.wordpress.com/ RoScoE:Robot of the School of Engineering Special thanks to John Sperduto, for aesthetics and modeling consulting Questions?

  49. Support Slides

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