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AS-84.3149 Bionics

AS-84.3149 Bionics. Project work spring 2008. Project work 2008 . Implement a ’Blind guide robot’ Analyze data from whisker sensors attached to the J2B2 robot and control robot so that it follows a marked Try to follow a path on the floor as accurately and quickly as possible

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AS-84.3149 Bionics

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  1. AS-84.3149 Bionics Project work spring 2008

  2. Project work 2008 • Implement a ’Blind guide robot’ • Analyze data from whisker sensors attached to the J2B2 robot and control robot so that it follows a marked • Try to follow a path on the floor as accurately and quickly as possible • Get to know how to combine different tools for robot control (Simulink -> C) • A final competition for different groups

  3. Whisker sensors • Whisker sensors are build by attaching a ’whisker’ on a capacitive microphone • This way whisker movement is sensed as change in voltage • Whisker oscillation and movement can then be analyzed in time or frequency domain • Due to non-industrial ’production’ of whiskers, they are not exactly similar

  4. Data translation system • The voltage from microphone is amplified and low-pass filtered using a analog filter-amplifier board • Amplified signal is A/D converted using a DSP prosessor board. The DSP does further low-pass filtering and sends the results trough RS-232 port as data packages at 250Hz frequency amplified analog voltage analog voltage RS-232 DSP

  5. Data translation system • One data package contains a starting byte (0x44), 8 data bytes and a end byte, which is contains package index (0-255) • Each data byte corresponds to voltage output from 0 to 255, nominal (no movement) is 127 • The whiskers used for project are 1, 2, 3 and 5. 0x44 8 data bytes index byte

  6. Controlling the robot • The robot is controlled using an interface made in C++ • Project work however is done in matlab / simulink and the code is compiled to C-code using real-time workshop c-compiler compile with robot interface C-compiler Executable C-code Simulink

  7. Simulink • Data is read to matlab and analyzed • Then a simulink model is used to develop a control for the robot • For testing: Test_Environment, for controlling Driving_environment

  8. Compiling • Compilation to c-code is compiled easily with simulink, be sure to follow project work instructions carefully! • Compiling with interface is done with Devcpp-programming environment, you don’t have to make many changes, compilation should be easy

  9. Connecting to robot • When running the code, the laptop must be connected to robot with ethernet cable with following connection settings: • IP: 192.168.10.2, Gateway: 192.168.10.1 • If you want to use internet change the settings to: • IP: 130.233.120.81, Gateway: 130.233.120.254

  10. Testing with robot • There is a simple ready-made user interface for robot control: • Drive robot with ’a,w,s and d’ • Terminate control thread for whiskers ’t’ • Exit application ESC • Read the code in main.cpp for more accurate instructions

  11. General stuff • ALWAYS leave the robot power chord on when not working (and maybe also when working) • Read instructions for robot use from: http://automation.tkk.fi/AS-84-3145-ProjectWork/Important • Reserve the robot beforehand using reservation book at robot room (2551)

  12. Outline of project work • Analyze data from whiskers using matlab • Create a control to follow, using whiskers and robot bumpers and test it • Write a report of the data-analysis and algorithm implementation • A final competition between groups

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