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Musical Robot Companion Critical Design Review. Charell Codner , Rollan “Buddy” Haller, Hazel Madolid and My-Linh Truong Group 17 *Sponsored by UCF Center for Entrepreneurship & Innovation . Project Description.
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Musical Robot CompanionCritical Design Review CharellCodner, Rollan “Buddy” Haller, Hazel Madolid and My-Linh Truong Group 17 *Sponsored by UCF Center for Entrepreneurship & Innovation
Project Description • Stereo systems are too hefty to haul around and MP3 players simply do not have the personality. The Musical Robot Companion (MRC) is a creative expansion on these developed technologies. As suggested by its name, the MRC has the capability of playing music while following the user around.
Goals of Voice-Control Subsystem • High accuracy -> Voice control is a key feature in the MRC’s design • Adequate vocabulary size (9 command words + 1 passphrase) • Speaker independence • Continuous listening • Easy to interface and program • Cheap
Training the HM2007 • We will not be using the demo board that can be purchased from the manufacturer, instead we will be designing our own • The user menu on the MRC’s display will have an option to train the command words. • The output from the display to the microcontroller will be relative to the selected word to train, and the microcontroller will output the corresponding bit pattern to the HM2007 chip • Interfacing circuit design will be similar to that described in the manual • Each command word will be trained to four separate memory locations
Musical Subsystem SPEAKERS
Speakers • Speakers need to be loud enough to hear • Have excellent frequency response • Durable enough for movement and other activities • Not overly large • 3 Types: Subwoofer, Mid-range, and Tweeters
Amplification and Filtering • A special topology was used, called the CGIC circuit. • Allows for superior sensitivity to component values. • Functionally tunable.
Amplification and Filtering • Needed a GBP that was above 100 kHz. • Also needed to be able to handle a large voltage swing. • Ideally multiple op-amps on a single board. • The LT1058CN was chosen.
Amplification and Filtering • Final output stage required special powerful op-amp. • Little amplification was used to allow for a lower GBP. • The OPA541 was chosen. • Final output power determined by MP3 and FM chips.
Amplification and Filtering • Needed to pick special cross-over points for speakers. • Then needed to use the filtering circuit to create these cross over-points. • In the end designed for 120 dB 6th order filters.
Musical Subsystem MP3 DECODER
Mp3 Decoder • Needed to be controlled by I2C. • Needed to be able to read SD cards. • Ideally as little programming as possible. • Ability to output analog signals ideal.
Musical Subsystem FM RADIO CHIPSET
FM Radio Chip • Radio is a standard in portable music player industry • Adds functionality and marketability • Original design included FM and AM radio • Initial research showed most joint AM/FM radio chips broadcasted in mono based only • Difficult to find joint AM/FM radio chip in stereo • Decided to stream FM only to emphasize speakers’ dynamic range • Optional: build AM radio input with external circuitry
SI Lab 336-1740-ND • I2C interface control • Output analog signals • Internal DSP • Tuning controlled digitally; ease of use • Antenna range needs to be 87-108 MHz based on US FM Radio standards
Musical Subsystem DISPLAY
Display Specifications • SPI interface • Large viewing screen • Text and graphic display • RGB to enhance viewing • Display will be viewed in sunlight & ambient light • Looked at LCDs and OLEDs • LCD was more cost effective Readability Polarization • Reflective • Low power draw, no backlight, no SPI • Transmissive • high color contrast, best in ambient light; RGB & SPI readily available • Transflective • Combo of Reflective & Transmissive; ideal in both bright & low light
Goals of Tracking Subsystem • Actually the composition of two systems: user tracking and obstacle avoidance • Detect and track the user in order to follow them • Detect and avoid objects it encounters while in motion for autonomous movement • Function well both indoors and outdoors • Cost effective • Small • Low power
Sensors • User Tracking: Combination of a user-carried IR beacon and phototransistors • OED-EL-1L2 (LED) • Peak wavelength is 940 nm • Radiant intensity is 60 mW/SR • Half angle is ±30 degrees (60 degree beam angle) • Lens finish is Water clear • LTR-301 (Sensor) • High sensitivity • Peak wavelength 940 nm • Viewing angle is ±20 degrees • Operating voltage is 5 V • Lens color is clear transparent • Obstacle Avoidance: Ultrasonic sensors • URM V3.2 Ultrasonic Sensor • Detection range of 4 cm – 500 cm (5 m) • Interface RS232 (TTL), PWN • Lightweight (30 g) • 5 V power • 1 cm resolution • Operating modes: Serial (PWM) passive control mode, Autonomous mode, On/Off mode
Transmitter Beacon • Multiple LEDs and a lens will be used to help increase the beam’s radiant intensity • Lens will also help to focus the light beam and counter some of the outside noise from other light sources. • Pulsing the circuit has other benefits in addition to filtering; it increases the instantaneous intensity of the LED and may also help improve battery life.
Beacon Sensor • Infrared sensors will collect readings on whether or not they can detect the beacon carried by the user • The distance gap allowed between the MRC and the user in following mode may range from 2 feet to 7 feet so therefore the beacon should be able to transmit and be received at a distance of 9 feet (3 meters) • Readings will be used to determined the user’s location relative the a virtual map
Obstacle Avoidance Subsystem • Sensors will be used in autonomous mode • The sensors will periodically take a reading and compare it with the pre-set threshold value. • The threshold value will be set to 153 centimeters (2.54 cm = 1 in; 152.4 cm = 60 in) • Readings that are taken will compared to the threshold value • Reading is less than or equal to the threshold value • The sensor will output that it has detected an object and the MRC should take necessary actions to avoid it. • The goal is to detect objects and not have the MRC come within 61cm (about 2 feet) of the detected objects • Objects within the threshold detection range but outside of the avoidance range will serve as a caution but not cause the MRC to stop. • This data will be useful when decide whether or not the MRC can turn to try to maneuver around and object • Object detection should be at least 180 degrees in front of the MRC
Sensor Placement Placement Design for the Ultrasonic Sensors
General System Components MICROCONTROLLERS
Microcontrollers • Needed to be able to handle processes. • Variety of I/O ports. • Fast enough to handle display. • Large memory ideal. • PIC 18F87J10 chosen.
General System Components POWER SUPPLY
Power Supply • Needed to be able to supply 24v, 5v, and 3.3v. • High power output for the speakers and motors. • Be powered by a 12v battery for efficiency. • Ideally, tolerant for voltage surge from motor start-up. • Be efficient as possible. • High Frequency switching for noise considerations. • Battery needed to have high capacity, high power draw. • Used Power Supply Workbench by National Semiconductor.
