Rp10 robotics platform
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RP10 Robotics Platform. Team Cyberdyne Interim Presentation February 17, 2009, 4-5 PM. Project Sponsor: Dr. Wayne Walter, RIT KGCOE Faculty Coach: Dr. James Vallino. History of RP10 Platform. KGCOE Multidisciplinary Senior Design Preceding project: P08201 (20071-3)

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RP10 Robotics Platform

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Rp10 robotics platform

RP10 Robotics Platform

Team Cyberdyne

Interim Presentation

February 17, 2009, 4-5 PM

Project Sponsor: Dr. Wayne Walter, RIT KGCOE

Faculty Coach: Dr. James Vallino


History of rp10 platform

History of RP10 Platform

  • KGCOE Multidisciplinary Senior Design

  • Preceding project: P08201 (20071-3)

    • 2ND generation platform

      • Like “next model year” in auto industry

    • Built by EE, IE, ME students

    • Up to 4 motor modules

    • 10 kg payload

    • PC software for remote control


Pictures of the rp10

Pictures of the RP10


Project synopsis

Project Synopsis

Microsoft Robotics Developer Studio (MRDS)

Model

RP10 Simulation

Platform

Control Application

Platform API

.NET

Other bindings . . .

Wireless RF or Wired (Serial Cable)

Motion commands, diagnostics

RP10

Microcontroller (MCU)

Motors

Batteries

Drive

Platform Software

Encoders

Steer


Pictures of the mrds

Pictures of the MRDS

Visual Programming Language

3-D Visualized Simulation


Process methodology choice

Process Methodology Choice

  • Spiral

    • Cycles with upfront risk-oriented evaluation

    • Iterative nature

    • Addresses significant uncertainty frequently

      • Cycles every 2-3 weeks

    • Obvious general risks early on

      • Inappropriate decisions due to inexperience

      • Hardware incapability against design

      • Platform instability

      • Resource unavailability (i.e., tools)


Schedule for 20082

Schedule for 20082

Continued . . .


Schedule 20082

Schedule – 20082


Metrics

Metrics

  • Time tracking (up to week 9)

    • Hours estimated: 726.65

    • Hours actual: 723.75

    • Total hours for cycle 2: 284 (39%)

  • No other metrics tracked

    • Primarily product-oriented


Cycle 2 c2 risks

Cycle 2 (C2) - Risks

  • Cannot create a comprehensive RP10 simulation in MRDS.

  • Communication between MCU and PC is unreliable.

  • Designs for MRDS implementation and platform API are incompatible.

  • Cannot use encoders to track angular wheel position.


C2 requirements elicitation

C2 - Requirements Elicitation

  • Limitations of RP10 platform

    • P08201 documentation

    • Experimentation to fill in gaps

  • Interviews with KGCOE professors

    • Understand applications of platform

    • Influence API design

  • Discussions on simulation detail

    • Command set from API

    • Physical characteristics from Simulink


Notable requirements

Notable Requirements

  • Platform

    • Control individual motors for drive, steer

    • Determine wheel angular position

  • Model

    • Build a 3D model of the RP10


C2 design process

C2 - Design Process

  • Platform

    • Split platform into subsystems

      • API

      • Communication Protocol

      • MCU

    • Divide sub-team across subsystem preferences

    • Collaborate to resolve interface issues

  • Model

    • Defined assets necessary for a simulation

      • Manifests, services, 3D model, etc.

    • Divided sub-team by expertise


Architecture platform

Architecture - Platform

.NET

PC

User Interface (GUI/CLI)

Robot Control

Commands (i.e., set speed, go, stop, etc.)

Communication Manager

Abstracts communication hardware (wireless or wired)

Protocol over Serial Cable

Responds to commands from PC, acknowledges commands

Executable

MCU*

PWM* signals

Motors

*Microcontroller Unit, Pulse Width Modulation


Communication protocol

Communication Protocol

  • Packets

    • Operation code (1 byte)

    • Data (optional 1 byte)

  • Acknowledges each byte received

  • Heartbeats from PC

    • Automatic robot shutdown if no beat received

  • Command error checking on PC


Architecture model mrds

Architecture – Model -- MRDS


Solidworks

SolidWorks

  • Create a 3-D model to import into MRDS

    • Includes material properties

  • 2008 vs. 2009

    • Collada Export in 2009

  • Licensing

  • Future Plans


Notable trade offs

Notable Trade-offs

  • PC vs. MCU functionality

    • PC: Easier to modify software

    • MCU: Software closest to hardware

  • Modeling a wheel vs. entire drive train

    • Wheel: Simplifies model development

    • Drive train: More accurate with all gears


Implementation technologies

Implementation Technologies

  • Platform

    • FreeScale MCU with CodeWarrior IDE

      • Hardware specific registers

      • C programming

    • C#.NET with Visual Studio

      • PC control software

  • Model

    • Visual Programming Language (VPL) with MRDS

      • Drag-drop programming of objects and actions

    • C#.NET

      • Interface with low-level MRDS components, API


Test strategy issues

Test Strategy & Issues

  • Platform

    • Manual acceptance tests through PC control

      • Coverage of all commands in protocol

      • Physical observation of correctness (i.e., yardstick)

    • Reliability, performance testing

  • Model

    • Simulated part function unit tests

    • Simulation test course for long duration

    • Dashboard control in simulated environment

    • Comparison of part functions between simulation and real robot


C2 results

C2 - Results

  • Platform

    • Designs for API, communication protocol

    • Requirements document

    • PC-MCU prototype of protocol

  • Model

    • Initial overall platform characteristics

    • SolidWorks motor module, frame models

    • Requirements, test strategy documents


Schedule projections

Schedule Projections


Lessons

Lessons

  • Learn and abide by the methodology

  • Set specific goals and work to them

  • Plan activities separate of needed tools

  • Do not isolate sub-teams


Questions

Questions?


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