Semi-Autonomous - CAROTTE

8/7/2019 Semi-Autonomous - CAROTTE

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Semi AutonomousSemi AutonomousRRoboticsobotics WWorkshoporkshop

Presented by Sonesh Kumar

Bhusanam Bharat & Abhishek Kumar


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Game PlayGame Play


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Introduction to Carotte

y PROBLEM STATEMENT

Build a computer controlled(semi autonomous) robot to collect the

objects and deposit them into there respective boxes


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y ARENA SPECIFICATION

The dimensions of arena are 250cm x 225cm

It consists of 63 , 25cm x 25cm boxes and 3 , 25cm x 75cm boxes asshown in the previous image

An object of maximum volume 250 cubic cm will be placed in thearena, with 8 empty boxes surrounding the box in which the object iskept.

The maximum height limit of the object that will be placed here is 5 cm.

The 3 large boxes will be colored using red, blue and green colors : IN ROUND 1 : ALL THE BOXES WILL BE COLORED EITHER AS RED, BLUE OR GREEN . IN ROUND 2 : EACH BOX WILL BE COLORED BY DIFFERENT COLOR AND ALL THREE COLORS EXISTS .

The objects will also be colored be the same RGB configuration : IN ROUND 1 : THE OBJECTS WILL BE COLORED AS PER THE ALRGE BOX.

IN ROUND 2 : AS THERE ARE 12 OBJECTS , FOUR OBJECTS WILL HAVE SAME COLOR, MAKING THREE SETS OF FOUR

SIMILAR OBJECTS.


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y The dimensions of the ROBOTshouldnt exceed 18cm x 18cm .

There is no limit on height.

y Try to put a color tag (minimum8cm x 8cm) on top of the robot sothat you have idea about the

position of the robot.


ROBOT SPECIFICATION


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ROUND1

The arena will have 12 similar objects having samecolor .

The robot has to detect the object, find a shortest path tothe object and put then put it the large box.

When one object is in hold of the robot , then the robotshouldnt interfere with any other object in its path.

The team with maximum objects in the box within atime interval of 20 min will be qualified for the nextround.

The arena for round one is shown in the next page.


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Introduction to Carotte6


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ROUND2

SIMILAR TO THAT IN ROUND 1, WE WILL HAVE 12 IDENTICAL OBJECTS PLACED IN THE ARENA. THE ONLYDIFFERENCEHERE ISTHAT WE WILL HAVE THEMCOLORED IN RBG IN EQUAL NUMBER

THE ROBOTHERE HASTO DETECT THE COLOR OFOBJECT AND THE COLOR OF THE LARGE BOX IN WHICHITHASTO DROP THIS BOX.

THE MAIN AIM WOULD BE TO : MAKE SURE THE ROBOT DETECTSTHE COLOR OF OBJECT AND

BOX FIND SHORTEST PATH, THE SHORTEST FROM THEN POSITIONTO THE OBJECT AND LATER FROM OBJECTTO THE LARGE BOX.

THE TIME DURATION FORTHIS ROUND WILL BE 20 MIN.


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Introduction to Carotte8


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Hardware.


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Controlled rotation required --

--------

StepperMotors are preferred


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Stepper Motor

More precise than DC motor

Measured rotation and can be held at aparticular position

Alignation is much

better in differential drive


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Stepper Motor

More precise than DC motor

Measured rotation and can be held at aparticular position

Alignation is much

better in differential drive


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Stepper motor

continue


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Unipolar Stepper Motor

the current only flows in one direction in the

windings of the coils. i.e. the stator poles can only be polarized

one way.

This kind of motor has four coils .

When energized in the correct sequence cause the

permanent magnet attached to the shaft to rotate.

There are two basic step sequences. After step 4, the

sequence is repeated from step 1 again.

Reversing the order of the steps in a sequence will reverse

the direction of rotation.


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a. Single-Coil Excitation Each successive coil is energized in turn.


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Single coil excitation continue

0010

0100

1000

0001


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b. Two-Coil Excitation Each successivepair of adjacent coils is energized in turn.


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0011 0110 1100 1001

Note:

The excitation of Coil 4 is always the inverse of the excitation of Coil 2.

The excitation of Coil 1 is always the inverse of the excitation of Coil 3.

So, with the right circuit, you can generate this sequence with only two

data lines.


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The Coil Diagram


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SINGLE COIL MODE

The order of the values to be written to PARALLEL PORT Data pins

STEPPER 1

00000001 (1st coil is on) = 1

00000010 (2nd coil is on) = 2

00000100 (3rd coil is on) = 4

00001000 (4th coil is on) = 8

STEPPER 2

00010000 (1st coil is on) = 16

0010000 (2nd coil is on) = 32

0100000 (3rd coil is on) = 64

1000000 (4th coil is on) = 128


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DOUBLE COIL MODE


STEPPER 1

00000011 (1st & 2nd coils are on) = 3

00000110 (2nd & 3rd coils are on) = 6

00001100 (3rd & 4th coils are on) = 12

00001001 (4th & 1st coils are on) = 9

STEPPER 2

00110000 (1st & 2nd coils are on) = 48

01100000 (2nd & 3rd coils are on) = 96

11000000 (3rd & 4th coils are on) = 192

10010000 (4th & 1st coils are on) = 144


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HYBRID MODE


STEPPER 1

00000001 (1st coil is on) = 1

00000011 (1st & 2nd coil is on) = 300000010 (2rd coil is on) = 2

00000110 (2nd & 3rd coil is on) = 6

00000100 (3st coil is on) = 4

00001100 (4th & 3nd coil is on) = 12

00001000 (4rd coil is on) = 8

00001001 (1st & 4th coil is on) = 9

Similarly it can be done for the other motor.


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Comparison

y Single coil

y Low torque

y Consume less energy

y Settling time is more

y Double coil

y High torque

y Consume double energy

y Settling time is less


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25-way Female D-Type Connector


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PC parallel Port

y The PC's Parallel Printer Port had a total of12 digital outputs and 5 digital inputs accessed via 3

consecutive 8-bit ports in the processor's I/O space.y 8 output pins accessed via the DATAPort

y 5 input pins (one inverted) accessed via the STATUSPort

y 4 output pins (three inverted) accessed via theCONTROL Port

y The remaining 8 pins are grounded


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STEPPER DRIVER BOARD


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Circuit Requirements

Decoder : Takes n inputs and gives 2n outputs ...the n inputs from the parallel ports could

be used to generate 2n

combination of outputsto excite the coils of stepper motors.


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An introductory talk on Matlab

PRESENTED by Sonesh

Kumar,

Abhishe k Kumar,

Bhusanam Bharat


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Topics of discussions

y What is Matlab.???

y Basic commands & operations.

y Matlab programs(.m file).

y Some known functions in Matlab.

ySurprise !!!!


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Matlab..??

yMATLAB The Language Of Technical

Computing.

y

MATLAB (MATrix laboratory) is a numericalcomputing environment and fourth-generation

programming language.

yMATLAB is a interactive environment that enables

you to perform computationally intensive tasks

faster than with traditional programming

languages such as C, C++, and Fortran.


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The MATLAB User Interface


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Basic commands..

Some points we should remember while start learning matlab No need to define variables data type. One Variable can have more then two data types. By default matlab create ansans as Most recent answer if expressions

are not assigned to anything else.

Variable names can contain up to 63 characters (as of MATLAB 6.5 andnewer) . Variable names must start with a letter followed by letters, digits, and

underscores. If a statement is terminated with a semicolon ( ; ), no results will be

displayed. Otherwise results will appear before the next prompt.

By default matlab use 4 digits rounding after decimal.


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>> a = 12

a =

12

>> a = 12;>> a = 23.23424;

>> a

a =

23.2342

>> a = 'swe'

a =

swe

>> a

=234872387498139732921942;>> a

a =

2.3487e+024

Basic operator : + , - , * , /

clc : Clear command window.

CLC clears th

e commandwindow and homes the cursor. home :Send the cursor home.HOME moves the cursor to theupper left corner of the

window. who :List current variables. whos: WHOS is a long form

of WHO. It lists all thevariables in the current

workspace, together withinformation about their size,bytes, class, etc.

clear :Clear variables andfunctions from memory.

CLEAR delete all the variable


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Mathematical and logical Operators

y Power : a^b , a.^by Multiplication : a*b , a.*by Division : a/b , a./by \ or .\ are used while calculating solution of the equation

A*x = b ; x = A\b = b/A;y ~ : Logical NOTy & : Element-wise logical ANDy | : Element-wise logical ORy && : Short-circuit logical AND

y || : Short-circuit logical ORy >= , , < these are relational operators.for more detail : type help ~


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.m Files in matlab

There are two kinds of M-files:

y Scripts, which do not accept input arguments orreturn output arguments. They operate on data in

the workspace.y Functions, which can accept input arguments and

return output arguments. Internal variables are localto the function.

Click here to create .m file


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.m Files in matlab

y Function file : click on create new .m file

y function [output] = (input)

y like function [a,b,c,..] = multi(A,B,C)


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Matrices in matlab

>> a = [1 2 3 4 5]

a =

1 2 3 4 5

>> a = [1,2,3,4,5]

a =

1 2 3 4 5>> a = [1;2;3;4;5]

a =

123

4

Any floating point number is amatrix of size(1x1).

For writing a matrix weh

aveto use [ ].

A vector is also a matrix , canbe a row matrix or a columnmatrix.

We can write a vector in 2different ways


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Matrices in matlab

y Operations and functions for matrices(suppose a is a matrix)

1. transpose(a) = a;

2. identity matrix of size n = eye(n);

3. inverse(a) = inv(a) = eye(n)/a ((solution of a*b = eye(n));

4.size of a matrix = size(a);5. A matrix with only zeros(of size nxm) = zeros(n,m);

6. A matrix with only ones(of size nxm) = ones(n,m);

7. Determinant of a matrix = det(a);

8. RREF of a matrix = rref(a);

9. Square root of a matrix = sqrtm(a);

10. rank of a matrix = rank(a);11. If a is a vector then maximum element is = max(a) & minimum element = min(a);

12. Diagonal of a matrix = diag(a);

13. norm of a matrix = norm(a);

14. random matrix = rand(n,m) or randn(n,m);

15. Eigenvalues and eigenvectors of a matrix = [eigval , eigvec] = eig(a);


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Some known functions in Matlab.

y factorial(n) : factorial of number n;

y diff(f,) : differentiation of a function;

y

int(f) : integration of a function f;y magic(n) : Magic square of size nxn;

y sort(x) : Sort in ascending or descending order;

y power(a,b) : .^ Array power;

y trace(a) : Sum of diagonal elements;

y gcd(a,b) : Greatest common divisor(lcm(a,b));

y roots(c) : Find polynomial roots;

y

save : save workspace variable to file(.mat format);


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Plot/Figure/Surface


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Plot/Figure/Surface

y plot(X,Y) : plots vector Y versus vector X;

y Plot3(X,Y,Z) : Plot lines and points in 3-D space;

y zoom(factor) : Zoom in and out on a 2-D plot;

y surf(A) : 3-D colored surface;

y ezplot(FUN) : plots the function FUN(X) over the default

domain -2*PI < X < 2*PI;

y ezplot3(fx,fy,fz) : plots the spatial curve fx(T), fy(T), and

fz(T) over the default domain 0 < T < 2*PI;

y

ezsurf(f) : plots a graph of the function f(x,y) using surf;


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Solving

y solve(eq1,eq2,..) : Symbolic solution of algebraicequations.

y dsolve(eq1,eq2,..) : Symbolic solution of ordinary

differential equations.y And muchmore.


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For more info. Contacts :- +919706636971

Department of mathematics

Email id :- [email protected], [email protected]

SoneshSoneshKumarKumar

Contacts :- +919678554657

Department of Electronic & Electrical Engineering


AbhishekAbhishekKumarKumar

Contacts :- +919678738211

Department of Mechanical Engineering


BhusanamBhusanamBharatBharat


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QUESTIONS.????


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Documents

Semi-Autonomous - CAROTTE