Dexter-2 Universal Robotic Research Platform

1. Dexter-2Universal RoboticResearch Platform GROUP MEMBERS: Sachitanand S. Malewar Anish Mohan Mukarram Baig Sachin Prabhu PROJECT GUIDE: Prof. K. G. Balakrishnan

2. Use of universal robotic research platform • Used in cutting edge research worldwide. • Widely used in research labs and industry. • Used for development and testing of new algorithms. • Used for rapid development in real time application. • Used in educational institutes for giving students • exposure to robotics. • Built around highly up scaleable architecture. • They also provide huge numbers of functionalities • for further up gradation. • Due to their universal nature robots can be • programmed in any languages.

3. Aspects of Universal Robotic Research Platform • Powerful onboard computer with neural co-processor • Accurate locomotion • Wireless connectivity with external world • Efficient and accurate navigation system • Pinpoint positioning systems • Accurate mappers with intelligent path planning algorithms • Arrays of image processing tools • 3D vision for depth recognition • Intelligent robot Human interaction using artificial neural networks • Precision robotic arm with forced feedback • Array of control modes • Onboard LCD display

4. Existing options Pioneer series robots

5. Dexter-2 Universal Robotic Reaserch Platform

6. Various Parts of Dexter-2

7. Dimensions of Dexter-2

9. Construction of the robot using multiple decks

10. Adjusting Center of Gravity of The Robot

11. Locomotion System

12. Locomotion

13. Parts of the Locomotion System

14. Four wheel Differential Drive

16. Shaft Encoder

17. Locomotion control

18. Onboard computer • Processor-Intel 2.4 GHz Hyper threading with 800MHz Front side bus • Intel 865PE chipset • ASUS P4P 800 DELUX Mother board • 1GB DDR RAM in Dual DDR configuration • North Bridge with 6.4GigaBytes/Sec 40 bit Bus • ICH5R controlled south bridge working at 700MB/S • Two 80 GB 7200 RPM Hard discs in RAID configuration • Serial ATA • Onboard IEEE 802.11b wireless LAN • 1GB/s Giga bit LAN • Two printer ports and four serial ports • Eight USB 2.0 ports working at 450MB/s • Two IEEE 1394 Fire wire ports • Five PCI slots • Ai based dynamic overclocking • Supports composit video signal

19. Front Side of Onboard computer

20. Back Side of Onboard computer

21. Side View of Onboard computer

22. Wireless Keyboard and Mouse With TFT LCD Display

23. Mounting position of TFT LCD and Long Range Infrared Scanner

24. Navigationalsystems • Dynamic ultrasound terrain mapper gives detailed terrain • map of surrounding including obstacles in the path. • Infrared positioning system pinpoints robot’s position • in polar coordinates • Infrared orientation system provides information about • robots orientation • Infrared docking system helps robot to dock to docking • station. • Infrared range finder • Gyroscopes • Accelerometers

25. Mounting of The Navigational Systems

26. Ultrasonic terrain mapper • Type- Dynamic terrain scanning • Range- 6 Meters • Accuracy- 1 cm • Readings- 48/360 degrees • Reading speed- 0.3 sec Mapped terrain Video

27. Infrared positioning system • Gives robots position with 0.2 degrees in polar coordinates • Transmits robot’s position with 9Kbps 412MHz wireless link

28. Infrared positioning system

30. Infrared Orientation System • Infrared orientation system is mounted on the robot • It gives orientation of the robot with respect to infrared positioning system • It is like infrared compass

31. Infrared Orientation System

32. Laser Range Finder

33. Piezoelectric Gyroscope Gyroscope board Piezoelectric Gyroscope

34. Robotic arm • Nine axis robotic arm • Configured in PRPPRPRRR • Best power to weight ratio

35. Robotic arm

36. Axis of Robotic arm

38. Image processing elements • Two night vision cameras for 3D vision • One colure camera • Two USB web camera • One Lego camera • One ZISC camera • Two Pinnacle image grabbing cards • Mounted on moveable platform

39. STK 500 Development Board For AVR Microcontrollers

40. ZISC Neural network board • Based upon zero instruction set computing • The Wizard board processes up to 1 million vectors per second • Equivalent to billion instructions / second (10 GIPS) • ZISC does not use any algorithms for programming the solution • On board 2 ZISC chips (156 parallel processors), one FPGA totaling • 100,000 gates and 1 Mb of memory • Up to 1 million recognitions/second

41. Lower Level Image Processing

42. Lower Level Image Processing Motion Detection Laser Range Finder

43. Control modes of the robot • Remote control • Robot control by speech • Robot control by analyzing palm movement • Controlling robot via a Distributed Network in server client environment • Controlling robot through internet • Automated Navigation To Target • Intelligent sonar navigation • Mapper • Shortest path algorithm • LEGO Vision command and LEGO Mind storm RCX 2.0

44. Remote control • 50 channel remote control • Working on 412 MHz • 8 bit security address • 50 meters range

45. Long Range Night Vision Camera Ultra long range active night vision camera with passive image intensifier lenses

46. Graphical User Interface

47. Mapper GUI

48. Shortest Path Algorithm

49. LEGO Mindstorm And LEGO Vision Command

50. LAN Control LAN Control using LEGO Mindstorm And LEGO Vision Command