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

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  • Ongo-01Project OSCARONGO-01

  • Project OscarSpring 2005ZacharyKotlarekDavidHawley MichaelLarson JustinRasmussenGavinRipleyPeter RufinoJasonSytsmaLynnTweedDavidWillis

    KevinCantuPhil DerrJawadHaiderJeffParentClient Department of Electrical and Computer EngineeringPresentation Date April 25, 2005Faculty Advisor Ralph Patterson IIITeam MembersCprECprEEE CprECprEEEEEMEME




  • Project OscarPresentation OverviewInitial InformationGavin

    Project IntroductionGavin

    Description of ActivitiesEveryone

    Resources and SchedulesJustin


  • Project OscarList of DefinitionsOSCAROctagonal Speech-Controlled Autonomous RobotBX-24Microcontroller used to interface with SONAR systemCVoiceControlSpeech recognition software that can issue Linuxcommands CVSConcurrent versions systemCybotThe predecessor to OSCARDrive trainThe assembly of electrically controlled motion elements, including the robots wheels, gears, belts, and tachometersEnd effectorThe assembly of electrically controlled mechanical arm and gripperGUIGraphical user interfacePEELProgrammable Electrically Erasable LogicSONARSound navigation and rangingTachometerA device for indicating speed of rotation

  • Project Introduction

  • Project IntroductionProblem StatementGeneral Problem StatementDevelop 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 NeedsSpeech recognition capabilityCircuit to interface the motor controller with wheel tachometersRepair SONAR systemImplement end effectorExtend existing software to use wheel tachometers and SONAR

    General Solution ApproachInstall speech recognition software and interface with robotDesign, implement, and test wheel tachometer circuitTroubleshoot SONAR system to determine problem Build end effector based on existing designDemonstrate the robot to campus visitors

  • Project IntroductionOperating EnvironmentIndoors (Outdoors with ideal weather)Flat surfaces, no downward stairs or drop-offsIf obstacles are present, they must be at least 2.5 feet high to be detected

  • Project IntroductionIntended Users and UsesUsersProject OSCAR team membersTrained demonstratorsSupervised non-technical users

    UsesDemonstrate robot to campus visitors: Manual control through GUI software from a remote PCRespond to spoken commandsSpeaks to operators and audienceAutonomous navigation through a room or corridorPick up and place objects

  • Project IntroductionAssumptions and LimitationsAssumptionsDemonstrations last less than one hourTechnical supervisors present during operationOperators speak English and are familiar with control softwareRemote PC for robot control has the appropriate software and hardware

    LimitationsSoftware must run in Mandrake LinuxSpeech commands are issued less than 15 feet awaySONAR range is 15 inches 35 feetWireless Ethernet within 328 feetMust fit through a standard 30-inch doorwayEnd effector must fit within top module

  • Project IntroductionEnd ProductFull drive motion capabilityInteraction with users via speech recognition software and speech outputGUI-driven software packageWireless connectionManual motion controlDistance and turning degree based motion commandsSpeech outputRoom/hallway navigationScript recording and playbackExternally rechargeable power supplyRetractable end effector capable of object manipulation

  • Project IntroductionOther DeliverablesEnd-user operation instructions Power system and recharging instructions Software users guidePower system specifications and schematicSONAR array specifications and schematicsEnd effector controller specifications and schematics

  • Description of Activities

  • Description of ActivitiesPrevious AccomplishmentsCommand-line speech outputNew motor control for drive motionEnd effector assembly was made lighterProject website was redesignedInstalled new battery and rerouted wiringNew layered software structure makes extensibility much easier and handles errorsGUI and network protocol developed to easily control the robot wirelesslyNew end effector design conforms with layered architecture

  • Description of ActivitiesPresent AccomplishmentsRepaired SONAR arrayTested and repaired transducer connectionsProgrammed PEEL chip to replace multiplexerWrote new software for the BX-24 microcontrollerWrote software to read data from SOANR transducers and output to GUI

    Implemented speech recognitionChose pre-written speech recognition softwareWrote scripts to relay commands to Java software

    Wrote new top layer of control for software, allows for simultaneous:Manual controlDistance and direction based commandsSpeech commandsSONAR collision interruption

  • Description of ActivitiesPresent AccomplishmentsDeveloped wheel tachometer circuitDesigned circuit to give correct tachometer input to the motor controllerOrdered all needed partsBuilt 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 implementationConvert end effector models to detailed drawingsWrote itemized materials list for end effector implementation

    Purchased and installed new DC/AC inverter

    Gave four robot demonstrations to elementary students

  • Description of ActivitiesProject Definition

    Total Weight Points:39Urgency Scaling Factor:28%HighestHighMediumLowLowestHighestRepair SONAR arrayRevise existing GUI softwareDesign controller for end effector motorsHighImplement speech recognition softwareEffortMediumImplement wheel tachometer circuitImplement software to interact with wheel tachometersSelect I/O interface for end effectorLowInstall wheel tachometersDocument circuit schematics and softwareLowest

    Priority Weight (larger = greater priority)987654321

  • Description of ActivitiesProject Definition* Some tasks have been omitted to fit in this space

    TaskSystem priorityProject priorityRepair SONAR array45%11%Characterize SONAR array30%8%Develop navigation algorithm25%6%Implement speech recognition20%6%Revise existing GUI software19%5%Implement software to interact with wheel tachometers17%5%Design software to interact with wheel tachometers15%4%Test newly developed software13%4%Document newly developed software8%1%Select I/O interface for end effector8%1%Design and implement wheel tachometer circuit26%8%Implement new end effector26%8%Design end effector controller14%4%Consider purchase of DC/AC inverter10%3%Document end effector controller design10%3%Install wheel tachometers9%2%Document wheel tachometer circuit design5%1%Project Reporting39%8%Present robot to campus visitors33%7%Develop scripts and macros28%5%TOTAL100%Yellow = percentage value forced for conformity to 100% total requirement

  • Description of ActivitiesProject DefinitionTasks grouped under milestones to assign overall priority

    #MilestonePriority (%)1SONAR repair and characterization252Documentation and testing173End effector164Software development145Demonstration / Presentation126Wheel Tachometer Install107Speech Recognition6

  • Modification of existing end effector DesignOriginal Assembly DesignFinal Assembly DesignConverted design models into detailed drawings that could actually be manufactured and assembledDescription of ActivitiesElectromechanical Design

  • Redesigning PartsInitial Design ModelActual DesignSome parts in the original design simply could not be manufactured, and had to be redesignedDescription of ActivitiesElectromechanical Design

  • Beginning the end effector building ProcessCreated 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 doneDescription of ActivitiesElectromechanical Design

  • Description of ActivitiesElectromechanical 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 supplyToo expensive

    DC/DC converterCannot supply computers demand.

    DC/AC inverterBest solution for price and functionalityOld DC/AC inverter

  • Description of ActivitiesElectromechanical ResearchPower conversion Solution

    400W DC-AC Inverter

    250W for Computer

    Extra power for future upgrades

    Small Size for easy install

    Rugged, long-lasting design

  • Description of ActivitiesElectromechanical ResearchEnd-Effector ControllerTwo solutions considered:National instruments software and hardwareCreate a design using microcontroller

    National instruments solutionParts ListHigh Performance 6 Axis Stepper/Servo Controller 68 pin VHDCI to 68 pin VHDCI, 2mIntegrated 4 Axis Servo Drive w/Power Supply, US,120V68 pin VHDCI & 68 pin.05 series D-type, 2mNoise Rejecting, Shielded I/O Connector Block

    ProblemsNew computer system not obtainedLinux drivers for PCI card not available

  • Description of ActivitiesElectromechanical DesignTeam-created microcontroller design

    BX-24 microcontrollerPeel multiplexer5 LM629 microprocessor5 LMD18200 H-bridge w/ DMOS driver5 servo motorsFive circuits needed, one for each motor

  • Description of ActivitiesElectromechanical DesignMotor controller optical