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Team of Omnidirectional Robots for Cooperative Tasks

Team of Omnidirectional Robots for Cooperative Tasks. Senior Design 2011 Group 01 Members: Josh Clausman Peter Martinson Seth Beinhart Advisors: Dr. Nicola Elia Matt Griffith Client: Department of Electrical and Computer Engineering Iowa State University. Problem Statement.

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Team of Omnidirectional Robots for Cooperative Tasks

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  1. Team of Omnidirectional Robots for Cooperative Tasks Senior Design 2011 Group 01 Members: Josh Clausman Peter Martinson Seth Beinhart Advisors: Dr. Nicola Elia Matt Griffith Client: Department of Electrical and Computer Engineering Iowa State University

  2. Problem Statement • To build a third omnidirectional robot for Dr. Nicola Elia’s research on cooperative tasks in distributed robotics • Robot design should be simple enough so that additional robots can be easily produced • Overcome power system, wheel design and computational limitations of previous designs • Cooperative tasks using robots as time permits Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  3. Concept Diagram Concept Diagram adopted from May-09-05 Senior Design Group

  4. Functional Requirements • Movement 2.1.1.1: Speed - 2 m/s 2.1.1.2: Acceleration - 6 m/s2 2.1.1.3: Omnidirectional 2.1.3.1: Relative position ± 2cm wheel encoders • Communication 2.1.2.1: 802.11-G (WiFi) 2.1.3.2: Localization packets • The power system: 2.1.4.1: CPU Module: 5V ± 5% @ 4A 2.1.4.4: Other: 3.3V ± 5% @ 2A 2.1.5.2: Motor: 6-14V @ 12A • Motor Control 2.1.5.1 Quadrature encoders 2.1.5.4 Reconfigurable control loop Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  5. Non-functional Requirements • Physical 2.2.1.1: Weight < 1.5 kg 2.2.1.2: 18cm diameter, 15cm tall • Computer Hardware 2.2.2.1: x86 architecture 2.2.2.2: Floating Point Unit 2.2.2.3: PC/104+ 2.2.2.4: $2000 or less • Power System 2.2.3.1: Battery over discharge • Integration 2.2.5.1: Localization system 2.2.5.2: Upload code/commands 2.2.5.3: Linux 2.2.5.4: Run old code Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  6. Assumptions and Limitations • Assumptions • Old bots can handle new collaborative tasks • x-y-z coordinate system will be available • Robots constrained to 'playing area' • Limitations • Group size - previously groups of 6-7 • Backwards compatibility • Required physical similarities • Camera delay (200 ms) Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  7. Market Survey • The Robocup competition  • Cornell has the most recognized design and had been reference heavily when designing our robot. Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  8. Risks and Mitigations Risks Mitigation • Power board design could fail • Inability to interface with legacy system • Future groups not being able to use our system • Advisor design review • Work closely with advisor Matt Griffith who is experienced with legacy system • Good documentation practices Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  9. Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  10. Design Overview Computer Hardware Wireless CPU Software System I/O Board Linux Kernel PC/104 Legacy System OTHER i/o IMU PC/104+ APIs Motor Controller Wheel Encoder Drivers Physical System Power System Frame Power Board Motor Driver Drive train Wheels Batteries Motor

  11. Software Overview Software System • Feature-rich legacy software • GUI for control • AI development environment • AI run control logic for robot • APIs called from AI • APIs call drivers for devices • Everything run on Linux kernel on robot APIs Linux Desktop Linux Kernel Legacy System Drivers Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  12. Design: Legacy • AIs • Control program development environment • Makefile • Services • Hidden from programmer • Processing wireless packets, reading sensors, motor control • Cross Compilation • AIs compiled on Linux desktop • Compilation flags for Atom N270 Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  13. Design: Drivers, API • Drivers • Motor controller • IMU • IO Board • API • Motor control • void MotorController::initMotor(structmotor_t &motor) • void MotorController::setMotorSpeeds() • Sensor Manager • SensorManager::init() • run(float dt) • readMotorEncoders(knet_dev_t *device, structmotor_encoder_info_t &out) Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  14. Design: Computer Hardware Computer Hardware • Main System • CPU Board – Diamond Systems Pluto • Motor Controller – MESA SoftDMC Motor Controller • Peripheral • I/O Board – TS ADC16 • IMU - Pololu CHR-6d • Wireless – NetGear WG111 Wireless CPU I/O Board PC/104 OTHER i/o IMU PC/104+ Motor Controller Wheel Encoder Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  15. Stack Connectors for PC104+ Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  16. Design: CPU – Diamond Pluto • Intel Atom N270 1.6 • ETX Form Factor • USB2.0/CFII/PC104+ • 5v @ ~2A Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  17. Design: Peripherals • I/O Board – TS ADC16 • Two 16 bit ADCs at 100kHz each • 16 single ended, 8 differential channel • IMU – Pololu CHR-6d • 3 accelerometer, 3 gyro axis • ARM Cortex Processor • TTL 3.3 converted to RS-232 • +/- 3gs of acceleration • Wireless – NetGear WG111 • USB2.0 Wireless G adapter • Linux community driver support Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  18. Design: Motor Controller – MESA SoftDCM • 4I68 FPGA based PC104-PLUS • 400K gate Xilinx Spartan3 • 72 programmable I/O bits • 50 Mhz crystal oscillator • PC104+ bus • VHDL Motor Controller • 200k logic units Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  19. Design: Power System • Power Board • Input: 6~16V • Output: • 3.3V @ 2A • 5V @ 4A • 6~12V @ 60A • Motors • Faulhaber 2232006SR • 6VDC nominal • Motor Drivers • 20kHz PWM • 2 channel 5.5-16V 0-14A • Current Sensing • Batteries • Thunder power Li-po • 7.4V(2 Cell) and/or 11.1V(3 Cell) Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  20. Design: Physical System • Wheels • Similar to Wheels on Kryten (May 08 Team) • Injection Molded • ABS Polymer • Cheaply Mass Produced Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  21. Design: Physical System • Frame • Lower COM • Larger Battery • Kryten & Dalec Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  22. Formation Task • Goals • Polygon shaped • Obstacle avoidance • Xbox controller • Approach • Each robot has target location • Offset from virtual robot based on geometric shape • Formation rotates to avoid obstacles • Xbox controller, point and vector of the formation Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  23. Triangle formation avoiding obstacle R R R R R R R R R R R R Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  24. Testing and Verification • Test cases for all requirements have been developed. • Motor controller response characteristics • To be completed next semester Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  25. Task Breakdown – Building Bot • Peter • Wheel design • Power system design • Matlab Simulation • Structural design • Josh • Porting to legacy system • SoftDMC FPGA Integration • Linux • Seth • Ensure documentation gets finished by deadlines • Hardware Selection • IO Drivers • Testing legacy system integration Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  26. Task Breakdown – Formations • Peter • Robot Dynamics • Matlab Simulations • Researching possible solutions to task • Seth • Task implementation • Testing • Josh • Researching possible solutions to task • Task implementation Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  27. Schedule – Spring Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  28. Schedule – Fall Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  29. Where We Stand • Proficient with legacy system • Motor Controller, integrate AIs • Hardware • Ordered • Power Board • Wheels designed, production over summer Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  30. Next Semester • Build the Robot • Wheels, motor mounts & frame manufactured • Complete design of power system • Fully assembled • Integration • Legacy system fully functional on new robot • Testing and Verification • Test cases completed! • Formation cooperative task • As time permits. Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

  31. Q/A Session Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson

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