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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
