Ongo-01 Project OSCAR ONGO-01. Project Oscar Spring 2005 ZacharyKotlarek DavidHawley MichaelLarson JustinRasmussen GavinRipley Peter Rufino JasonSytsma

Ongo-01Project OSCAR

ONGO-01

Project Oscar

Spring 2005

ZacharyKotlarek

David Hawley

Michael Larson

JustinRasmussen

Gavin RipleyPeter RufinoJason SytsmaLynn TweedDavid Willis

Kevin CantuPhil DerrJawad HaiderJeff Parent

Client Department of Electrical and Computer Engineering

Presentation Date April 25, 2005

Faculty Advisor Ralph Patterson III

Team Members CprE

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Initial Information Gavin

Project Introduction Gavin

Description of Activities Everyone

Resources and Schedules Justin

Summary Justin

Project Oscar

Presentation Overview

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

Project Oscar

List of Definitions

Project Introduction

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


Problem Statement


Operating 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


Intended Users and UsesUsers Project OSCAR team members Trained demonstrators Supervised non-technical users

UsesDemonstrate 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


Assumptions and LimitationsAssumptions 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


End 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


Other 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

Description of Activities

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


Previous 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


Present 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


Present Accomplishments


Project DefinitionTotal Weight

Points:39 Urgency

Scaling Factor:

28% Highest High Medium Low Lowest

Highest Repair SONAR

arrayRevise existing GUI

softwareDesign controller for end effector motors

HighImplement speech

recognition software

Effort Medium Implement wheel tachometer circuit

Implement software to interact with

wheel tachometers

Select I/O interface for

end effector

Low Install wheel tachometers

Document circuit

schematics and software

Lowest

Priority Weight (larger = greater priority) 9 8 7 6 5 4 3 2 1


Project DefinitionTask System priority Project priority

Repair SONAR array 45% 11%

Characterize SONAR array 30% 8%

Develop navigation algorithm 25% 6%

Implement speech recognition 20% 6%

Revise existing GUI software 19% 5%

Implement software to interact with wheel tachometers 17% 5%

Design software to interact with wheel tachometers 15% 4%

Test newly developed software 13% 4%

Document newly developed software 8% 1%

Select I/O interface for end effector 8% 1%

Design and implement wheel tachometer circuit 26% 8%

Implement new end effector 26% 8%

Design end effector controller 14% 4%

Consider purchase of DC/AC inverter 10% 3%

Document end effector controller design 10% 3%

Install wheel tachometers 9% 2%

Document wheel tachometer circuit design 5% 1%

Project Reporting 39% 8%

Present robot to campus visitors 33% 7%

Develop scripts and macros 28% 5%

TOTAL 100%

Yellow = percentage value forced for conformity to 100% total requirement

* Some tasks have been omitted to fit in this space


Project Definition

Tasks grouped under milestones to assign overall priority

# MilestonePriority

(%)

1SONAR repair and characterization

25

2 Documentation and testing 17

3 End effector 16

4 Software development 14

5 Demonstration / Presentation 12

6 Wheel Tachometer Install 10

7 Speech Recognition 6

Modification of existing end effector Design

Original Assembly Design Final Assembly Design

Converted design models into detailed drawings that could actually be manufactured and assembled


Electromechanical Design

Redesigning Parts

Initial Design Model Actual Design

Some parts in the original design simply could not be manufactured, and had to be redesigned



Beginning the end effector building Process

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




Electromechanical ResearchPower conversionFormer 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


Electromechanical ResearchPower conversion

Solution

400W DC-AC Inverter

250W for Computer

Extra power for future upgrades

Small Size for easy install

Rugged, long-lasting design


Electromechanical ResearchEnd-Effector ControllerTwo 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


Electromechanical DesignTeam-created microcontroller design

BX-24 microcontroller Peel multiplexer 5 LM629 microprocessor 5 LMD18200 H-bridge w/ DMOS driver 5 servo motors

A-

+

MG1

MOTOR SERVO

12

U2

LMD18200/TO

1 2

6

89

1011

34

5

BTP1 OUT1

VS

CSOUTTFOUT

OUT2BTP2

DINBIN

PIN

U1

LM629

1

17

26

23

1613271512

1918

1110987654

IN

HI

CLK

AB

PSRDRSTWRCS

PWMMAGPWMSIGN

D0D1D2D3D4D5D6D7

Five circuits needed, one for each motor


Electromechanical DesignMotor controller optical encoder interfaceProblem: 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

Optical Encoder

Motor Controller

Computer Serial

???

t = 0

Channel A

Channel Bforward

Channel Bbackward

Rotation

forwardbackward

Input voltage

+ 5.0 V

+ 2.5 V



Optical Encoder

Optical encoder digital output

Needed analog signal

Solution



Wheel tachometer circuit design

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

U1A

LM324

1

3

2

411

OUT

+

-

V+V-

U1A

LM324

1

3

2

411

OUT

+

-

V+V-

R1

1k

U4+5V

LM7805C/TO

1 3

2

IN OUT

GND

Output from F-V R1

1k

R1

1k

U1A

LM324

1

3

24

11

OUT

+

-V+

V-

C1

1n

R1

1k R1

1k

U5 +12V

LM7812C/TO220

1 3

2

IN OUT

GND

R1

1k

R1

1k

R1

1k

R1

1k

U5 SPDT Switch

ADG419

1

2

4

6

7

8 D

S1

+VCC

IN

-VCC

S2

Output from Switch

U1A

LM324

1

3

2

411

OUT

+

-

V+V-R1

1k

+12V Source

U1A

LM324

1

3

2

411

OUT

+

-

V+V-

R1

1k

-Voltage Source

F-V

LM2907/DIP14

1

23

4

5

912

1011

81

23

4

5

912

1011

8

-12V Source

R1

1k

U5 +Variable

LM317/CYL

3

1

2VIN

ADJ

VOUT

From 2.5V Regulator

R1

1k R1

1k

Optical encoder Channel A

R1

1k

+5V Optical Encoder

Analog Out to Motor Controler

C2

1n

Input From Phase Decoder


Electromechanical Implementation


SONAR TestingInitial 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


SONAR TestingRequirements 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

Programming and testing PEEL

WinPLACE used to translate prototype to hardware descriptive language

Waveform simulator for testing compiled JEDEC file with desired test vectors


SONAR Testing

SONAR Characteristics 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.


SONAR Testing

Computational Requirements vs. Vocabulary and Speaking Style


Software Research

Vocabulary size (number of words)

Spea

king

sty

leSpontaneous

speech

Fluent speech

Read speech

Connected speech

Isolated words

2 20 200 2000 20000 Unrestricted

word spotting

digit strings

voice commands

directory assistance

form fill by voice

name dialing

2-way dialogue

natural conversation

transcription

office dictation

system driven dialogue

network agent &

intelligent messaging

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


Software ResearchTypes of speech recognition


Software Implementation

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

Software Architecture

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


Software DesignWheel 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


Software ImplementationWheel Tachometer Software

GUI Extension

New multi-threaded network code

Sensor display implemented

Collision detection and clearing.

Client side scripting added.



GUI Extension

New length commands support: Time-based commands Distance-based

commands Angle-based commands

Each command shares the speed and turn speed sliders



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.



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





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.

Interfacing with the SONAR array


Future Required Activities

Task Student Type Semester

Install wheel tachometer circuit boards EE Fall 2005

Implement end effector assembly ME Fall 2005

Implement end effector motor-control circuits EE Fall 2005

Upgrade computer system CprE Fall 2005

Improve speech-recognition software CprE Fall 2005

Implement navigational software algorithm CprE Fall 2005

Test end effector assembly and control circuit ME/EE Spring 2006

Implement end effector control software CprE/EE Spring 2006

Build top-level façade for end effector deck (any) Spring 2006

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

Resources and Schedules


Personnel Efforts

0

20

40

60

80

100

120

Hou

rs

Significant hours spent on:

End effector circuit design

Wheel tachometer circuit testing

SONAR repair Software

development Project reporting Robot demonstrations Project tracking


Financial Requirement

Labor at $10.50/ hr,

$8,977.50

DC/ AC Inverter,

$71.99

Poster, $19.30

Other, $91.29

Labor at $10.50/hr

DC/AC Inverter

Poster

Donated resourcesWheel tachometer circuit parts: Phase detector Multiplexer

Frequency to voltage converter Other small parts for circuit assembly


Project ScheduleAmbitious schedule Tasks collected into groups Milestones are group

deadlines Class presentation January 27 Project demonstrations April 7, 15 Industrial review April 25

Summary

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

Summary

Lessons Learned

What non-technical knowledge was gained Proper documentation methods Coordinating efforts of thirteen members

What would be done differently if you could do it over again

Order wheel tachometer parts immediately Obtain new computer system Improve project schedule

Summary

Lessons Learned

Anticipated potential risks Ordered parts do not arrive on time

Solution: Order parts immediately, Allow extra time for delivery

Failure to complete assigned tasksSolution: Get help from other team members

Cost of development exceeds expectationSolution: Delay purchase or seek alternate solution

Failure to attend a meetingSolution: Team leader informs absent members of meeting accomplishments

Anticipated risks encountered Ordered parts do not arrive on time Failure to attend a meeting

Summary

Risks and Risk Management

Unanticipated risks encountered Wheel tachometers circuit components not working as

expectedSolution: Correct components are currently present, circuit needs further testing

Resultant change in risk managementAllow further time in project schedule for circuit testing by

obtaining parts sooner and by not assuming parts will work as expected

Summary

Risks and Risk Management

Summary

Closing Summary

Substantial advances in the software structure

Robot in much better state for demonstrations

Create useable paper trail for future team members

Project nearing end product deliverable status

Documents

Ongo-01 Project OSCAR ONGO-01. Project Oscar Spring 2005 ZacharyKotlarek DavidHawley MichaelLarson JustinRasmussen GavinRipley Peter Rufino JasonSytsma