As 84 3149 bionics
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AS-84.3149 Bionics. Project work spring 2008. Project work 2008. Implement a ’Blind guide robot’ Analyze data from whisker sensors attached to the J2B2 robot and control robot so that it follows a marked Try to follow a path on the floor as accurately and quickly as possible

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AS-84.3149 Bionics

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As 84 3149 bionics

AS-84.3149 Bionics

Project work spring 2008


Project work 2008

Project work 2008

  • Implement a ’Blind guide robot’

  • Analyze data from whisker sensors attached to the J2B2 robot and control robot so that it follows a marked

  • Try to follow a path on the floor as accurately and quickly as possible

  • Get to know how to combine different tools for robot control (Simulink -> C)

  • A final competition for different groups


Whisker sensors

Whisker sensors

  • Whisker sensors are build by attaching a ’whisker’ on a capacitive microphone

  • This way whisker movement is sensed as change in voltage

  • Whisker oscillation and movement can then be analyzed in time or frequency domain

  • Due to non-industrial ’production’ of whiskers, they are not exactly similar


Data translation system

Data translation system

  • The voltage from microphone is amplified and low-pass filtered using a analog filter-amplifier board

  • Amplified signal is A/D converted using a DSP prosessor board. The DSP does further low-pass filtering and sends the results trough RS-232 port as data packages at 250Hz frequency

amplified

analog

voltage

analog

voltage

RS-232

DSP


Data translation system1

Data translation system

  • One data package contains a starting byte (0x44), 8 data bytes and a end byte, which is contains package index (0-255)

  • Each data byte corresponds to voltage output from 0 to 255, nominal (no movement) is 127

  • The whiskers used for project are 1, 2, 3 and 5.

0x44

8 data bytes

index byte


Controlling the robot

Controlling the robot

  • The robot is controlled using an interface made in C++

  • Project work however is done in matlab / simulink and the code is compiled to C-code using real-time workshop c-compiler

compile with

robot

interface

C-compiler

Executable

C-code

Simulink


Simulink

Simulink

  • Data is read to matlab and analyzed

  • Then a simulink model is used to develop a control for the robot

  • For testing: Test_Environment, for controlling Driving_environment


Compiling

Compiling

  • Compilation to c-code is compiled easily with simulink, be sure to follow project work instructions carefully!

  • Compiling with interface is done with Devcpp-programming environment, you don’t have to make many changes, compilation should be easy


Connecting to robot

Connecting to robot

  • When running the code, the laptop must be connected to robot with ethernet cable with following connection settings:

    • IP: 192.168.10.2, Gateway: 192.168.10.1

  • If you want to use internet change the settings to:

    • IP: 130.233.120.81, Gateway: 130.233.120.254


Testing with robot

Testing with robot

  • There is a simple ready-made user interface for robot control:

    • Drive robot with ’a,w,s and d’

    • Terminate control thread for whiskers ’t’

    • Exit application ESC

  • Read the code in main.cpp for more accurate instructions


General stuff

General stuff

  • ALWAYS leave the robot power chord on when not working (and maybe also when working)

  • Read instructions for robot use from: http://automation.tkk.fi/AS-84-3145-ProjectWork/Important

  • Reserve the robot beforehand using reservation book at robot room (2551)


Outline of project work

Outline of project work

  • Analyze data from whiskers using matlab

  • Create a control to follow, using whiskers and robot bumpers and test it

  • Write a report of the data-analysis and algorithm implementation

  • A final competition between groups


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