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Musical Robot Companion MrC

Musical Robot Companion MrC. Charell Codner , Rollan “Buddy” Haller, Hazel Madolid and My-Linh Truong Group 17 *Sponsored by UCF Center for Entrepreneurship & Innovation. The Problem. Our Solution. Portable Hands-Free High sound quality. Key Design Objectives. Follows user with IR

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Musical Robot Companion MrC

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  1. Musical Robot CompanionMrC CharellCodner, Rollan “Buddy” Haller, Hazel Madolid and My-Linh Truong Group 17 *Sponsored by UCF Center for Entrepreneurship & Innovation

  2. The Problem

  3. Our Solution • Portable • Hands-Free • High sound quality

  4. Key Design Objectives • Follows user with IR • Avoids obstacles with Ultrasonic Sensors • Voice-controlled • Plays MP3 files

  5. Subsystems MOBILITY SUBSYSTEM GENERAL SUBSYSTEM VOICE-CONTROL SUBSYSTEM BATTERY SENSORS MICROPHONE MASTER MICROCONTROLLER VOICE-CONTROL CHIP MOTORS WHEELS MUSICAL SUBSYSTEM MP3 PLAYER SPEAKERS

  6. General System Components MICROCONTROLLER

  7. Microcontroller • PIC 18F4515 • Mikro C • SPI-Port Expander for Voice-Control • Software UART- ultrasonic sensors

  8. Software: Master MC MRC is turned on by voice. Initialization Get IR Data Determine Drive Direction Get Voice Data Check Buttons

  9. General System Components DISPLAY

  10. Monochrome Text Display

  11. General System Components POWER SUPPLY

  12. Power Supply • Needed to be able to supply +/- 12v, 5v, and 3.7v. • High power output for the speakers and motors. • Be powered by two 12v batteries. • Ideally, tolerant for voltage surge from motor start-up. • Be efficient as possible. • High frequency switching for noise considerations. • Batteries need to have high capacity, high power draw.

  13. Power Supply: Batteries

  14. Power Supply: +/- 12V

  15. Power Supply: 5v

  16. Power Supply: 3.7v

  17. General System Components EXTERIOR

  18. Exterior • The MrC has a wooden frame. • The MrC has an aluminum shell. • It has two arms that swing out to allow for stereo channel separation. • Overall, similar in size to a wagon.

  19. Mobility Subsystem TRACKING & COLLISION AVOIDANCE

  20. 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

  21. 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

  22. 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.

  23. 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

  24. Sensor Placement (Virtual Map)

  25. Obstacle Avoidance Subsystem • Sensors will be used in serial mode • Readings that are taken will compared to the desired threshold value • Object Detection Threshold: 61 cm ( ~2 ft ) • The sensors will output anytime an object exceeds the set threshold • COMP/TRIG pin will pull low as an indication • The goal is to detect objects and not have the MRC come within 61cm (about 2 feet) of the detected objects • This data will be useful when deciding which driving directions the MRC can proceed in • Object detection should be as close to 180 degrees in front of the MRC as possible

  26. Sensor Placement Placement Design for the Ultrasonic Sensors

  27. Mobility Subsystem Components MOTORS/WHEELS

  28. Motors/Wheels • Needed to be able to propel the MrC. • Easy to control. • Preferably DC powered. • Ideally be able to keep up with a human walking. • Tank steering will be used.

  29. Motors

  30. Motor Controller • VSI 50A • 50 amps • Output voltage = 24V • Input voltage = 24V • Regenerative breaking • Auto-brakes • Capable of forward and reverse

  31. Wheels • Rotation Rate = 131 RPM • Torque = 33.33 ft * lbs • Wheel diameter = 8 in

  32. Voice - Control Subsystem

  33. 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

  34. Speech Recognition Chips

  35. Training the HM2007 • We will be using the demo board that can be purchased from the manufacturer • 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

  36. Interfacing the chip • The HM2007 voice chip is interfaced to the main circuit through the LED board. • The output must be converted from the encoding used to display values on the LED display • Reading from each LED must be decoded and shifted into a single reading to be analyzed by the voice functions of the main MC

  37. Voice Command Recognition Algorithm

  38. Musical Subsystem MP3 PLAYER

  39. MP3 Player • Needed to be controlled by I2C. • Ideally as little programming as possible. • Ability to output analog signals ideal.

  40. Musical Subsystem SPEAKERS

  41. 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, Midrange, and Tweeters

  42. Speakers: Subwoofer

  43. Speakers: Midrange

  44. Speakers: Tweeters

  45. Amplification and Filtering • A special topology was used, called the CGIC circuit. • Allows for superior sensitivity to component values. • Functionally tunable.

  46. 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 3rd order filters.

  47. 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.

  48. Amplification and Filtering • Final output stage required special powerful op-amp. • Little amplification was used to allow for a lower GBP. • The LM3886 was chosen.

  49. Testing

  50. Hardware Testing • Each system had its own testing procedure. • Electrical connections and power on were tested. • Then, operations was checked via white noise generator and amplified by 20 dB

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