Project OSCAR Octagonal Speech-Controlled Autonomous Robot ONGO-01

Project OSCAR

Octagonal Speech-Controlled Autonomous Robot

ONGO-01

Project OSCAR

Spring 2006 Client: Iowa State University

Department of Electrical and Computer Engineering

Faculty Advisor: Ralph E. Patterson III

Presentation: March 9, 2006

EE Team Members Philip Derr EE

492 Robert Dunkin EE 492 Nicholas Hoch EE 492 Noman Rehan EE 491 Patrick Smith EE 491

CprE Team Members Peter Gaughan CprE 492 Andrew Levisay CprE 492 Mike Mikulecky CprE 492 Lori Rogers

CprE 491

ME Team Members Brandon Davis ME 466 Kyle Huck ME

466

Project OSCAR

Presentation Overview

Project Introduction Peter Gaughan

Description of Activities Sub-teams

Resources and Summary Patrick Smith

Project OSCAR

List of Definitions OSCAROctagonal Speech-Controlled Autonomous Robot BX-24 Microcontroller used to interface with SONAR system CVS Concurrent versions system Drive train The assembly of electrically controlled motion

elements, including the robot’s wheels, gears, belts GUI Graphical user interface I/O Input and output to a device PEEL Programmable Electrically Erasable Logic SONARSound navigation and ranging Tachometer A device for indicating speed of rotation Wiki An Internet-based content management system

Project Introduction

Peter Gaughan

Project Introduction

Problem Statement

General ProblemDevelop a robot and perform demonstrations to generate interest in the field and in the department.

General Solution ApproachAn ongoing project was started to design a modular, autonomous robot which incorporates speech control, sonar sensors, and an arm to interact with its surroundings and audience.

Project Introduction

Operating Environment

Indoors

Flat surfaces, no drop-offs

Obstacles must be 2.5 feet high

Project Introduction

Intended Users and Uses

Users Project OSCAR team members Supervised non-technical users

Use: Demonstration to raise interest in the field and the department Autonomous navigation of a hallway Ability to pick up and manipulate objects via the arm Ability to speak Control via spoken commands Manual movement via local or remote interface

Project OSCAR

Group Presentations

Presented to groups of young students to teach them about technology and to get them excited about ISU engineering

Two presentations so far

Two left, scheduled for next Friday

Project Introduction

Assumptions and Limitations Assumptions

Demonstrations last less than one hour Technical supervisors present during operation Operators are properly trained in control mechanisms Remote PC for robot control has the appropriate software and

hardware

Limitations Software must run in Linux or comply with remote control

protocol Speech commands are issued less than 15 feet away Sonar range is 15 inches – 35 feet Must fit through a standard 30-inch doorway Arm must fit within top module

Project Introduction

End Product & Deliverables

A robot with working systems Power Drive Sensors Software Arm

Documentation

Description of Activities

Intro to OSCAR’s Systems

Modular stackable system

4 Stages Arm Sonar Software & voice Power & drive

Power and Drive

Andy Levisay

Description of Activities

Power & Drive

Drive System Wheels, gears, suspension Motors Motor controller

RoboteQ AX2500 Tachometer feedback

Power System DC system DC/AC inverter 12V Battery

Description of Activities

Power & Drive: Spring 2006

Fall 2004, Spring 2005Tachometer technology selected, circuit designed

Fall 2005Tachometer circuit to be implemented & tested

Spring 2006

Tachometer circuit deemed unnecessary

Power and Drive System is complete

Software

Lori Rogers

Software

Past Accomplishments

Design process Software controls hardware Software extends in all directions to all levels Main software system

Software ported to Linux Java Perl C#

Software

Current Problems

Java Architecture Hierarchy issues Redundant classes and methods No interfaces

Code Inefficient code blocks Speech software not functional Voice recognition not included in code flow

Software

Speech Synthesis

Problems Existing code not functional FreeTTS software uses low quality voices

Approach Research other synthesis packages Test on Linux desktop

Software

Speech Synthesis

Requirements Functional in Linux Implements JSAPI Free

Result: Festival Variety of voices Linux and Windows functionality JSAPI implementation requires unavailable files! Will use FreeTTS, continue search

Software

Current Status

Basic architecture designed Eliminates redundant classes and methods Takes advantage of Java concepts Allows for future expansion or revisions

Necessary code changes noted Increases efficiency Increases readability

New Java GUI planned

Software

Future

Complete design of Java architecture Create new Java GUI based on old C# GUI

design Implement new Java architecture Integrate voice synthesis and arm control

software

SONAR

Philip Derr

Mike Mikulecky

SONAR

Purpose

The goal of the SONAR system is to detect objects in OSCAR’s surroundings with the ultimate goal of autonomous navigation.

A simple hallway program is planned as OSCAR’s first navigational attempt.

SONAR

SONAR Array FunctionalityBasic-X selects

a transducer and sends init signal

Mux connects Basic-X to

desired transducer

Transducer receives init signal

Transducer sends echo signal back

Basic-X calculates distance

Basic-X sends

distance to serial port

SONAR

Diagrams

System

SONAR

Past Accomplishments

SONAR array hardware assembled

Hardware tested (1 year ago)

SONAR program made for Basic-X

SONAR

Present Accomplishments

Hardware Testing

Researched correct test set-ups for individual hardware components

Transducer modules, multiplexer, and Basic-X tested for functionality

All transducers checked for consistency and quality of data

Recent connection problem between multiplexer and LR transducer port

LR transducer plugged into R transducer port, R transducer left unplugged

SONAR

Present AccomplishmentsBasic-X SONAR Program

Previous program wasn’t working Looked into BASIC code and rewrote portions to

restore functionality Altered code to handle 8 transducers and print data

in columns for analysis

SONAR

Present Accomplishments

Java & Serial Port Communication

Java takes data from the Basic-X chip via the serial port.

The Java SONAR program then analyzes the data and runs the left turn algorithm.

SONAR

Present Accomplishments

Open hallway to the left raw data in graph form

SONAR

Present AccomplishmentsHallway Left Turn Characterization & Algorithm

1) OSCAR’s transducer #1 notes when it can’t see the left wall anymore.

2) OSCAR knows when to turn when the transducer #2 reading increases by 20 cm from when point 1 is noted.

SONAR

Remaining/Future Work

Investigate inconsistent connection in circuit board for the left rear transducer

Implement more advanced Basic-X/Java communication

Implement a hallway navigation algorithm with mapping

Design more robust autonomous positioning algorithms

ArmControl

Robert Dunkin

Nicholas Hoch

Arm Control

Overview

Functionality Computer control for four motors in the arm H-bridges for power Controlled by microcontroller(s) Communication with the PC

Goals To fully design the system To build the system without significant design

revisions

Arm Control

Oscar Limits

Computer I/O availability Software knowledge Space for chips Types of H-bridge drivers

Arm Control

Equipment

LM 629 motorcontroller LMD 18201 H-bridge driver PIC18F4550

Arm Control

Present Accomplishments

Started a new design Designed the block diagram Researched all the chips needed for the

circuit Created new circuit design with chips Ordered 1 set of chips and started testing

each chip

Arm Control

Future Work Complete testing of each chip and circuit Work with software for programming of PIC Work with Mechanical for placement of circuit

boards Create circuit boards for chips

Robotic Arm

Kyle Huck

Brandon Davis

Previous Design Main design and concepts

complete

Some parts made

The arm is not completely assembled

Not all parts required for a complete mechanical system are made

Current Design

The current design remains similar to the previous design

Fixed many small problems with the previous design

All the changes in design are small but were necessary to allow the design to function

Changes No access hole

was made for the set screw in the wrist joint.

The set screw had

to be ground to the curvature of the wrist joint in order to spin freely inside the larger joint piece.

Changes Cont’d A pin was added

to the main gear on the elbow joint to fix the arm to the motion of the gear

Changes Cont’d The motor shafts did not

protrude from the plates far enough for the set screws on the wrist joint and the worm gears to engage on the motor shaft.

The plates were machined such that the motor would be “countersunk” into the plate

Current Status

The arm is assembled and mechanically functional except for the fingers

Ready to begin testing and run the wiring through the arm

Future Projects

The fingers and finger plates need to be machined

The slide mechanism needs to be built The length of the arm may be too long in the current design to

completely fit inside OSCAR’s body

Modification to the elbow pin may be made to allow for more swing angle in the arm movement

Resourcesand Summary

Patrick Smith

Resources: Spring 2006

Personnel Effort Requirements

Arm control circuit design Sonar Array Testing Speech system development Visitor demonstrations Documenting project Senior Design reporting

TOTAL HOURS: 960

0

20

40

60

80

100

120

140

Personal Hours

Brandon Davis

Philip Derr

Robert Dunkin

Peter Gaughan

Nicholas Hoch

Kyle Huck

Andrew Levisay

Mike Mikulecky

Noman Rehan

Lori Rogers

Patrick Smith

Resources: Spring 2006

Other Resource Requirements New Computer

Has been purchased - $200 Arm Control

Structural materials, machining – donated

Motors – salvaged Electronics – purchased $45.31

Speech Software – free Operating system – free

Documentation Wiki – free, donated Printing & binding – purchased

TOTAL COST SPRING 2006: $257.81

Resources: Spring 2006

Financial Requirements Spring 2006

Projected cost of materials: $257.81 Projected cost of labor at $10.50 per hour: $10,080 Spring 2006 Projected Total: $10,337.81

Previous Semesters Fall 2006: $11,336.50 Fall 2005: $10,000-11,000 Spring 2005: $6,000-9,000 Fall 2004: $9,000-13,000 Spring 2004: $12,000 Fall 2003: $15,000 Spring 2002: $10,000-16,000 Fall 2001: $11,000-17,000

Estimated Overall Total, Spring 2001- Spring 2006: $125,980

Project OSCAR: Summary

Lessons Learned

What went well New team member orientation to complex system

What did not go well Difficulties with sonar array Intermittent computer problems

What technical knowledge was gained Electronic, and control systems Linux software development Java code integration with various technologies

Project OSCAR: Summary

Lessons Learned

What non-technical knowledge was gained Project management experience Documentation methods, skills, and the importance thereof Presentation skills Interdisciplinary engineering interaction

Project OSCAR: Summary

Risks and Risk Management

Anticipated potential risks Part ordering delays Complexity of coordination Loss of Team Member

Anticipated risks encountered Coordination difficulties Loss of Team Member

Project OSCAR: Summary

Risks and Risk Management

Unanticipated risks encountered Team member health problems Sonar multiplexer circuitry failure

Closing

Peter Gaughan

Project OSCAR: Summary

Closing

Still in overall implementation stage – autonomy is incomplete

Continued demonstrations have been effective in developing team member abilities

Future should involve Finalizing OSCAR system Satisfying department needs through further robotic

development

Project OSCAR

Questions?

http://seniord.ee.iastate.edu/ongo01