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Ongo-01

Ongo-01. Project OSCAR. ONGO-01. Zachary Kotlarek David Hawley Michael Larson Justin Rasmussen Gavin Ripley Peter Rufino Jason Sytsma Lynn Tweed David Willis Kevin Cantu Phil Derr Jawad Haider Jeff Parent. Project Oscar Spring 2005.

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Ongo-01

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  1. Ongo-01 Project OSCAR ONGO-01

  2. Zachary Kotlarek David Hawley Michael Larson Justin Rasmussen Gavin Ripley Peter Rufino Jason Sytsma Lynn Tweed David Willis Kevin Cantu Phil Derr Jawad Haider Jeff Parent Project OscarSpring 2005 Client Department of Electrical and Computer Engineering Faculty Advisor Ralph Patterson III Team Members 492 492 492 492 492 492 492 466 466 491 491 491 491 CprE CprE EE CprE CprE EE EE ME ME EE EE EE CprE Presentation Date April 25, 2005

  3. Project OscarPresentation Overview Initial Information Gavin Project Introduction Gavin Description of Activities Everyone Resources and Schedules Justin Summary Justin

  4. Project OscarList of Definitions • OSCAR Octagonal Speech-Controlled Autonomous Robot • BX-24 Microcontroller used to interface with SONAR system • CVoiceControl Speech recognition software that can issue Linux commands • 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 • GUI Graphical user interface • PEEL Programmable Electrically Erasable Logic • SONAR Sound navigation and ranging • Tachometer A device for indicating speed of rotation

  5. Project Introduction

  6. Project IntroductionProblem Statement General Problem Statement Develop a functional robot that the university can use for demonstrations to capture the interests of visitors and potential students, and concurrently exhibit the technological capabilities of its students. Semester Needs • Speech recognition capability • Circuit to interface the motor controller with wheel tachometers • Repair SONAR system • Implement end effector • Extend existing software to use wheel tachometers and SONAR General Solution Approach • Install speech recognition software and interface with robot • Design, implement, and test wheel tachometer circuit • Troubleshoot SONAR system to determine problem • Build end effector based on existing design • Demonstrate the robot to campus visitors

  7. Project IntroductionOperating Environment • Indoors (Outdoors with ideal weather) • Flat surfaces, no downward stairs or drop-offs • 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 robot to campus visitors: • Manual control through GUI software from a remote PC • Respond to spoken commands • Speaks to operators and audience • Autonomous navigation through a room or corridor • Pick up and place objects

  9. Project IntroductionAssumptions and Limitations • Assumptions • Demonstrations last less than one hour • Technical supervisors present during operation • Operators speak English and are familiar with control software • Remote PC for robot control has the appropriate software and hardware • Limitations • Software must run in Mandrake Linux • Speech commands are issued less than 15 feet away • SONAR range is 15 inches – 35 feet • Wireless Ethernet within 328 feet • Must fit through a standard 30-inch doorway • 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 • Distance and turning degree based motion commands • Speech output • Room/hallway navigation • Script recording and playback • Externally rechargeable power supply • Retractable end effector capable of object manipulation

  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 • End effector controller 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 • Installed new battery and rerouted wiring • New layered software structure makes extensibility much easier and handles errors • GUI and network protocol developed to easily control the robot wirelessly • New end effector design conforms with layered architecture

  14. Description of ActivitiesPresent Accomplishments • Repaired SONAR array • Tested and repaired transducer connections • Programmed PEEL chip to replace multiplexer • Wrote new software for the BX-24 microcontroller • Wrote software to read data from SOANR transducers and output to GUI • Implemented speech recognition • Chose pre-written speech recognition software • Wrote scripts to relay commands to Java software • Wrote new top layer of control for software, allows for simultaneous: • Manual control • Distance and direction based commands • Speech commands • SONAR collision interruption

  15. Description of ActivitiesPresent Accomplishments • Developed wheel tachometer circuit • Designed circuit to give correct tachometer input to the motor controller • Ordered all needed parts • Built and tested circuit according to specifications • Wrote software to utilize wheel tachometer data by computing distance and direction based on independent wheel speeds • Circuit schematic for end effector controller designed and documented • Prepared for end effector implementation • Convert end effector models to detailed drawings • Wrote itemized materials list for end effector implementation • Purchased and installed new DC/AC inverter • Gave four robot demonstrations to elementary students

  16. Description of ActivitiesProject Definition

  17. Description of ActivitiesProject Definition * Some tasks have been omitted to fit in this space

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

  19. Modification of existing end effector Design Description of ActivitiesElectromechanical Design Original Assembly Design Final Assembly Design Converted design models into detailed drawings that could actually be manufactured and assembled

  20. Redesigning Parts Description of ActivitiesElectromechanical Design Initial Design Model Actual Design Some parts in the original design simply could not be manufactured, and had to be redesigned

  21. Beginning the end effector building Process Description of ActivitiesElectromechanical Design • Created drawings of parts from existing design models • Recorded inventory of parts on hand • Considered parts to be salvaged from CyBot and other sources • Locating resources for building materials to manufacture parts • Locating places where manufacturing can be done

  22. Description of ActivitiesElectromechanical Research Power conversion Former power inverter (DC/AC) is not rated to supply necessary power to computer. The unit had problems overheating. • Many alternative products considered: • DC ATX power supply • Too expensive • DC/DC converter • Cannot supply computer’s demand. • DC/AC inverter • Best solution for price and functionality Old DC/AC inverter

  23. Description of ActivitiesElectromechanical Research • Power conversion Solution • 400W DC-AC Inverter • 250W for Computer • Extra power for future upgrades • Small Size for easy install • Rugged, long-lasting design

  24. Description of ActivitiesElectromechanical Research • End-Effector Controller • Two solutions considered: • National instruments software and hardware • Create a design using microcontroller • National instruments solution • Parts List • High Performance 6 Axis Stepper/Servo Controller • 68 pin VHDCI to 68 pin VHDCI, 2m • Integrated 4 Axis Servo Drive w/Power Supply, US,120V • 68 pin VHDCI & 68 pin.05 series D-type, 2m • Noise Rejecting, Shielded I/O Connector Block • Problems • New computer system not obtained • Linux drivers for PCI card not available

  25. Description of ActivitiesElectromechanical Design • Team-created microcontroller design • BX-24 microcontroller • Peel multiplexer • 5 LM629 microprocessor • 5 LMD18200 H-bridge w/ DMOS driver • 5 servo motors Five circuits needed, one for each motor

  26. Description of ActivitiesElectromechanical Design Motor controller optical encoder interface Problem: • Optical encoder outputs digital pulse train • Motor controller needs analog 5V with direction • A circuit known as the wheel tachometer circuit must be inserted between optical encoder and motor controller

  27. Optical Encoder Description of ActivitiesElectromechanical Design Optical encoder digital output Needed analog signal

  28. Description of ActivitiesElectromechanical Design Solution Wheel tachometer circuit design

  29. Description of ActivitiesElectromechanical Implementation Components used in wheel tachometer circuit • Voltage regulators 1.5, 5, 12 • Charge pump • Frequency to voltage converter • Op-amps • Phase detector • Analog single pole double throw switch

  30. Description of ActivitiesSONAR Testing Initial testing procedures • Verified functionality of each individual transducer using oscilloscope and function generator • Repaired all connections from serial port to transducers • Mapped a schematic diagram • Tested BX-24 with new test software • Determined multiplexer device was not obtaining SONAR data • Hardwired SONARs to the BX-24 to confirm remaining hardware functionality • Researched PEEL devices to replace multiplexer

  31. Description of ActivitiesSONAR Testing Requirements for multiplexing SONARs • 3 multiplexer select pins • 8 INIT outputs to each SONAR • 8 ECHO inputs from each SONAR • 1 INIT input from BX-24 microcontroller • 1 ECHO output to BX-24 microcontroller

  32. Programming and testing PEEL Description of ActivitiesSONAR Testing • WinPLACE used to translate prototype to hardware descriptive language • Waveform simulator for testing compiled JEDEC file with desired test vectors

  33. SONAR Characteristics Description of ActivitiesSONAR Testing • Transducers tested for ranging capability • Feedback read from BX-24 environment monitor • Field response limited to testing environment • Beam pattern best approximated at 20 degrees • Distance range from ~ 15 in. to 33 ft.

  34. Description of ActivitiesSoftware Research Computational Requirements vs. Vocabulary and Speaking Style

  35. Description of ActivitiesSoftware Research Types of speech recognition • Continuous Speech Recognition • Unlimited Vocabulary • Allows Users To Speak In Sentences • Requires User Training • Large Computational Load • Limited Vocabulary Discrete Speech Recognition • Requires No Training • User Independent • Requires Punctuated Speech • Moderate Computational Load • ~200 Word Vocabulary • Utterance Recognition – Currently, the best choice for OSCAR • Requires Command and User Training • Requires Punctuated Speech • ~20 Word Vocabulary • Low Computational Load

  36. Description of ActivitiesSoftware Implementation Software Architecture • Previous code updated and extended • Layers of abstraction added to the previous design • Added functionality to support speech control, SONARs, and wheel tachometers • New hard drive installed

  37. Description of ActivitiesSoftware Design Wheel Tachometer Software • Need software to utilize the wheel speed data from the wheel tachometers • Robot keeps track of: • Total distance traveled • Orientation relative to starting position • (X, Y) coordinate position • Orientation is set at startup and can be reset during operation • Allows for distance and angle based motion commands

  38. Description of ActivitiesSoftware Implementation Wheel Tachometer Software • Wheel speeds were modeled in Java to test accuracy of algorithm • Motion simulated by inputting wheel speeds • For a given time interval: • Distance calculated • Turning degree calculated • Algorithm later integrated into robot software

  39. GUI Extension New multi-threaded network code Sensor display implemented Collision detection and clearing. Client side scripting added. Description of ActivitiesSoftware Implementation

  40. GUI Extension New length commands support: Time-based commands Distance-based commands Angle-based commands Each command shares the speed and turn speed sliders Description of ActivitiesSoftware Implementation

  41. GUI Software Structure Multi-threaded: All network I/O is handled in separate threads from the user interface Multi-cast delegates used for event handling. Used to easily add features such as scripting. Description of ActivitiesSoftware Implementation

  42. Description of ActivitiesSoftware Implementation • GUI Scripting • Record scripts from GUI or edit script file • GUI serializes the script to an XML file • Format includes a text string to send on the network and a delay in milliseconds before sending the string

  43. Description of ActivitiesSoftware Implementation Interfacing with the SONAR array • Requires the integration of two pieces of software: • Main Program: • Creates a new thread to handle the interface with the SONAR array • Continuously requests distance data from the array • Notifies the control software if a collision is detected • Allows the main software to request the data at any time • SONAR microcontroller: • Waits for and handles requests from the main program • Sends a pulse to the requested sensor • Computes the distance based on the interval before reply • Returns this information to the main program • This software is sufficient to control the SONAR array, future additions will improve collision-handling.

  44. Description of ActivitiesFuture Required Activities • Current feature set to be implemented before developing new features: • Manual, distance, and turning based motion commands • Remote and auto end effector • Auto navigation and object avoidance • Optimize speech command input

  45. Resources and Schedules

  46. Resources and SchedulesPersonnel Efforts Significant hours spent on: • End effector circuit design • Wheel tachometer circuit testing • SONAR repair • Software development • Project reporting • Robot demonstrations • Project tracking

  47. Donated resources Wheel tachometer circuit parts: • Phase detector • Multiplexer • Frequency to voltage converter • Other small parts for circuit assembly Resources and SchedulesFinancial Requirement

  48. Resources and SchedulesProject Schedule • Ambitious schedule • Tasks collected into groups • Milestones are group deadlines • Class presentation January 27 • Project demonstrations April 7, 15 • Industrial review April 25

  49. Summary

  50. SummaryLessons Learned What went well • Software development • Wheel tachometer circuit design • Power inverter upgrade • Demonstrations What did not go well • Wheel tachometer circuit implementation, obtaining parts • Obtaining new computer system • Obtaining mechanical engineering support What technical knowledge was gained • Basic-X microcontroller, PEEL programming • Speech recognition implementation • Use of Microsoft Project, Office

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