Project OSCAR

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Project OSCAR

• Octagonal Speech-Controlled Autonomous Robot
• ONGO-01

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Project OSCARFall 2005

• Client Iowa State University Department of
  Electrical and Computer Engineering
• Faculty Advisor Ralph E. Patterson III
• Presentation Date December 6, 2005

• EE Team Members
• Kevin Cantu EE 492
• Jawad Haider EE 492
• Robert Dunkin EE 491
• Nicholas Hoch EE 491
• CprE Team Members
• Jeff Parent CprE 492
• Peter Gaughan CprE 491
• Andrew Levisay CprE 491
• Mike Mikulecky CprE 491
• ME Team Members
• Lynn Tweed ME 466
• Michael Snodgrass ME 466
• David Brownmiller ME 466

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Project OSCARPresentation Overview

• Initial Information Jeff
• Project Introduction Jeff
• Description of Activities
• Tachometer Jawad Bob
• Software Mike Peter
• End-effector construction Michael David
• End-effector electronics Nick
• Documentation Wiki Andy
• Resources, Schedules , Summary Kevin
• Closing Jeff

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Project OSCARList of Definitions

• OSCAR Octagonal Speech-Controlled Autonomous
  Robot
• BasicX-24 Microcontroller used to interface with
  SONAR system
• CVS Concurrent versions system
• Cybot The predecessor to OSCAR
• Drive train The assembly of electrically
  controlled motion elements, including the
  robots wheels, gears, belts, and
• tachometers
• End effector The electrically controlled
  mechanical arm and gripper
• GUI Graphical user interface
• I/O Input and output to a device
• PEEL Programmable Electrically Erasable Logic
• SONAR Sound navigation and ranging
• Tachometer A device for indicating speed of
  rotation
• Wiki An internet based content management system
  for many
• users

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Project Introduction

• Jeff Parent

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Project IntroductionProblem Statement

• General Problem
• Develop a robot and perform demonstrations to
  generate interest in the field and in the
  department.
• General Solution Approach
• An ongoing project was started to design a
  modular, autonomous robot which incorporates
  speech control, sonar sensors, and an end
  effector to interact with its surroundings and
  audience.

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Project IntroductionOperating Environment

• Indoors
• Flat surfaces, no downward stairs or drop-offs
• Obstacles must be 2.5 feet high

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Project IntroductionIntended 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 place objects via the end
  effector
• Ability to speak
• Manual movement via wireless control software
• Control via spoken commands

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Project IntroductionAssumptions and Limitations

• Assumptions
• 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

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Project IntroductionEnd Product Deliverables

• A robot with working systems
• Power
• Drive
• Sensors
• Software
• End effector
• Documentation

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Tachometer

• Jawad Haider
• Bob Dunkin

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TachometerElectromechanical Design

• Problem
• Interface of Motor Controller and Optical Encoder
• Optical encoder outputs digital pulse train
• Motor controller needs analog 5V with direction
• Solution
• Build a Wheel Tachometer circuit and interface
  the motor and encoder

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TachometerElectromechanical Design
Optical encoder digital output
Needed analog signal
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TachometerProposed Design
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TachometerParts Used and Schematic

• Switch ADG419
• Frequency-to-voltage converters LM2907 and/or
  AD650KN
• Phase decoder LS7184 LSI sheet/LS7184 USD sheet
• Op-amps LM324
• Charge pumps (providing negative voltage) ADM660
  
• Adjustable voltage regulator LM117

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TachometerAccomplishments

• Tested the phase decoder
• We look at the UP/DN output
• Signal flips between 5V and 0V with the change
  in the direction of shaft motion
• Signal level stays there until direction changes
  again

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TachometerTesting

• Charge Pump
• Two capacitors of 10uF are used for charge
  storage
• The voltage inversion operation is obtained using
  ADM 660
• Voltage Regulators
• Two types of voltage regulators are used (5V and
  12V)

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TachometerFrequency to Voltage

• LM 2907
• Unknown chip malfunction
• AD 650KN
• MATLAB analysis
• Ripple voltage too high
• Used for higher frequency motors
• Range (100Hz1MHz)

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TachometerAverage and Ripple Voltage
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TachometerFuture

• Need to put more research into chips
• TC 9402 chips seems more feasible up to 100Hz
• Design new circuit, with new chips
• Create and test circuit components

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Software

• Mike Mikulecky
• Peter Gaughan

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SoftwareJava

• Improve Java code
• Reorganize
• Add support for debugging

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SoftwarePrototyping

• Rapid evaluation of ideas
• Wireless motion control via Xbox controller
• Prototyping framework

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SoftwarePerl

• Prototyping language
• Flexible and fast
• Modular

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SoftwareMiscellaneous

• New brain for OSCAR
• No change in voice synthesis

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SoftwareFuture

• Continue modularization of Java
• Finish and extend prototyping framework
• Use framework to test motion algorithms
• Integrate better voice synthesis

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End Effector Mechanical

• David Brownmiller
• Michael Snodgrass

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End EffectorPrevious Design

• Design was only 50 Complete
• Slide mechanism had binding issues
• Gears and motors were not modeled to scale
• Structural issues on wrist rotational motor

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End EffectorCurrent Design

• Remodel Gears and Motors
• Design rotational joint to eliminate stress on
  the rotation motor
• A completed arm with slide and base rotation for
  spring 06
• Selected materials for structural integrity and
  aesthetics

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End EffectorCurrent Status

• Acquisition of materials
• Physical manufacture of the arm
• Manufacturing limitations on campus
• Machine shop in Nevada

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End EffectorControl

• Nick Hoch

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End Effector ControlOverview

• Functionality
• Computer control for five motors in the new end
  effector
• 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

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End Effector ControlOriginal Technology Selection

• BasicX-24 top level
• Multiplexers
• LM629 motorcontrollers (1 per motor)
• H-bridges (1 per motor)

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End Effector ControlQuestions

• Too complex
• Serial PC lt-gt BasicX
• Serial BasicX lt-gt LM629
• Skills requred Java, Basic, LM629 codes,
  hardware programming

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End Effector ControlPossible Improvements

• USB connection (PC lt-gt microprocessor)
• Fewer parts (possibly only 1 microcontroller 5
  H-bridges)
• More software, less hardware (faster
  implementation)
• C instead of BASIC as a primary language
  (students have experience)

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End Effector ControlPossible Solutions

• LabVIEW board and software
• previously discarded because of PC and Linux
  issues
• PIC like the PIC18F4550
• USB capable
• Specialized PIC or a DSP chip like the
  dsPIC30F4011
• 6 PWM outputs
• 1 optical encoder input
• FPGA with programmed logic to replace entire
  circuit.

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Documentation

• Andy Levisay

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DocumentationPrevious Problems

• Incomplete
• No central repository
• Decision process not documented
• Design and testing not well documented

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DocumentationSolution The OSCAR Wiki

• Well organized
• Carries from semester to semester
• Easy sharing of documents and pictures
• Also provides a place for making announcements
  and meeting times
• Useful in document collaboration

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DocumentationThe OSCAR Wiki
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DocumentationThe OSCAR Wiki
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DocumentationDocumentation Activities

• Software
• Tachometer testing
• Sonar maintenance
• End Effector

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DocumentationFuture Activities

• Dedicated server for the WIKI
• Adding more back data to the WIKI

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Resources and Summary

• Kevin Cantu

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Resources and Schedules Fall 2005Personnel
Effort Requirements

• Visitor demonstrations
• End effector control circuit design
• Tachometer implementation
• Software
• Documentation project
• Senior Design reporting
• Projected total hours 1013
• Actual hours

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Resources and Schedules Fall 2005Other Resource
Requirements

• End effector
• Structural materials, machining donated
• Motors salvaged
• Electronics purchased
• Tachometer
• Electronics purchased
• Speech
• Software free
• Operating system free
• Computer donated (if possible)
• Documentation
• Wiki free, donated
• Printing binding purchased
• Projected semester cost 700
• Actual semester cost

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Resources and Schedules Fall 2005Financial
Requirements

• Fall 2005
• Projected cost of materials 700
• Projected cost of labor at 10.50 per hour
  10,636.50
• Fall 2005 Projected Total 11,336.50
• Previous Semesters
• 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- Fall 2006
  113,000

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Resources and Schedules Fall 2005Project
Schedule
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Project OSCAR SummaryLessons Learned

• What went well
• New team member orientation to complex system
• What did not go well
• Implementing tachometer design
• Initial team progress late start this semester
• What technical knowledge was gained
• Electronic, mechatronic and control systems
• Linux software development

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Project OSCAR SummaryLessons Learned

• What non-technical knowledge was gained
• Project management experience
• Documentation methods, skills, and the importance
  therof
• Presentation skills
• Interdisciplinary engineering interaction
• What would be done differently
• Better teaching of new team members
• Better completed and organized documentation

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Project OSCAR SummaryRisks and Risk Management

• Anticipated potential risks
• Part ordering delays
• Documentation problems
• Personal injury
• Loss of a member
• Anticipated risks encountered
• Part ordering delays
• Documentation problems

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Project OSCAR SummaryRisks and Risk Management

• Unanticipated risks encountered
• Long term loss of faculty advisor
• Software malfunction
• Lost knowledge
• Resultant changes in risk management
• More sophisticated documentation
• Emphasis on shared knowledge

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Closing

• Jeff Parent

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Project OSCAR SummaryClosing

• 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 robot
  development projects

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Project OSCAR

• Questions?
• http//seniord.ee.iastate.edu/ongo01