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Presentation Outline. Introduction Company Profile Problem Statement Proposed solution Cost Analysis Deliverables Plan Conclusion. Members Talha Koc Murat Ozkan Ahmet Eris Halit Ates Mehmet Alp Ekici. Company Profile. Company Profile. Task Distribution

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presentation outline
PresentationOutline
  • Introduction
  • Company Profile
  • Problem Statement
  • Proposedsolution
  • CostAnalysis
  • Deliverables
  • Plan
  • Conclusion
company profile
Members
          • Talha Koc
          • Murat Ozkan
          • Ahmet Eris
          • Halit Ates
          • Mehmet Alp Ekici

Company Profile

company profile1
Company Profile

TaskDistribution

  • Programming Talha, Murat
  • Purchasing Alp, Ahmet
  • Power analysis&design Halit, Alp, Ahmet
  • RF analysis&design Talha
  • Mechanical analysis&design Talha
  • Control analysis Halit, Murat
  • Hardware TestingAll
  • R&D, DocumentationAll
problem statement
Problem Statement

A vehicle that extracts the map of a closed path

  • Fitsinside a 1m by 1m square
  • 1 cm accuracy
  • No hard wiring
  • Thevehiclewill not start itsoperation on thepath
  • No overheadcamera
  • Area of map
objectives
Objectives
  • Inexpensive and high quality
  • Optimize costand time
  • High accuracy

-Followingline

-Mapextraction

  • Low power consumption
map ex t racti on
MAP EXTRACTION

>>LINE FOLLOWER

> SENSORS FOR MAPPING

> MAPPING ALGORITHM & DISPLAY

> DATA TRANSMISSION

part list
PART LIST
  • SENSORS
    • COLOR SENSOR (3)
  • MOTORS
    • STEPPER MOTOR (2)
  • WHEELS
    • WHEEL (2)
    • CASTER
color sensors
COLOR SENSORS
  • Detection of line
  • Will be 3 - 5 mm above ground
  • Placed in a row; 2 cm front of centre line
  • Separated by 1 cm; left to right
motor unit
MOTOR UNIT

STEPPER MOTORS (2)

WHEELS (2)

CASTER

motors
MOTORS
  • Stepper Motors
    • Controlled by digital input
    • Can be driven slow
    • Can be used without gearbox
    • Low error fraction
    • Having no contact brushes increases life-time
  • Will be placed 2 cm behind centre line
wheels
WHEELS
  • Rubber wheel for high friction
  • Small size (r=1cm) for good resolution
  • Will be connected to motors separately
  • Like motors; placed 2 cm behind centre line
  • Will keep chassis 3-5 mm above ground
caster
CASTER
  • To support robot
  • Easily moveable
  • To keep robot balanced
  • Placed on the middle, 2 cm away from front
slide19
TURN

TURN LEFT

TURN RIGHT

forward turn
FORWARD+TURN

GO LEFT

GORIGHT

map extraction
>LINE FOLLOWER

>>SENSORS FOR MAPPING

> MAPPING ALGORITHM & DISPLAY

> DATA TRANSMISSION

MAP EXTRACTION

why optical mouse sensor

Why optical mouse sensor?

Resolution is independent of encoder

Not dependent on wheel size

Installation is easy

Gives accurate incremental 2-D displacement

features of optical mouse sensor
Features of optical mouse sensor
  • Optical navigation technology
  • High reliability
  • Low cost
  • High speed motion detector
  • High resolution
reading distance from oms

Reading Distance from OMS

Optical Mouse resolution-> 1600 counts per inch -> 630 counts per cm

Example: If we read 64 counts in register

this means that our car has moved 64/630 cm.

0,101cm

why digital compass
Why digital compass?

ADVANTAGES

  • Easy to implement
  • Less sensitive to vibrations
  • High resolution
  • Low power

DISADVANTAGES

  • Requires calibration
  • Affected from magnetic material
slide29
MAP EXTRACTION

>LINE FOLLOWER

> SENSORS FOR MAPPİNG

> > MAPPING ALGORITHM&DISPLAY

> DATA TRANSMISSION

mapping display

Mapping & Display

“Scientistdiscovertheworldthatexists; engineerscreatetheworldthatneverwas.”

(Theodore von Karman )

localization position estimation
Localization – PositionEstimation

Q: Howtoestimaterobot’spose

withrespectto a global frame?

  • AbsolutePoseEstimation (GPS,Landmarks,Beacons)
  • RelativePoseEstimation (DeadReckoning)
  • AppropriateCombination of 1 & 2
dead reckoning
DeadReckoning
  • Usedextensively in roboticapplications
    • ClassicalUse: Wheel Encoders
    • Advantages: Simple,cheap,easy
    • Drawback: Accumulation of errors
  • Solution:
    • Highpresicionopticalmousesensors (ADNS3080)
    • No kinematicerrors as in wheelencoders
    • Post filtering ( Kalman/MarkovFilters)
mapping algorithm
MappingAlgorithm
  • To model robotsnextposition,weneed:
    • ΔxandΔypositions
    • angleα°
    • Hardware:
      • OMS-> Δx& Δy
      • V2Xe-> α°
error considerations
ErrorConsiderations
  • Is Optical Mouse Sensor goodenoughtosatisfy +-1cm accuracy?

F. A. Kanburoglu, E. Kilic, M. Dolen, M., A. B. Koku, A Test SetupforEvaluatingLong-termMeasurementCharacteristics of Optical Mouse Sensors. "Journal of Automation, Mobile Robotics, andIntelligentSystems", 1, (2007),

error considerations cont
ErrorConsiderations (cont.)
  • Pose = Distance + Anglemeasurements
  • Thesemeasurmentshave ERRORS or NOISE included.

Whatto do?

  • Kalman Filter -> SmartWay of processing data
  • Makesdistinctionbetweenreliable data & unreliable data
  • Smoothsouttheeffect of noise
kalman filter simulation for v2xe
Kalman FilterSimulationfor V2Xe
  • Assumption of noisy data with %2 error
  • Tested for hypothetical values in MATLAB

FirstOrder Kalman Filter ,R=2

FirstOrder Kalman Filter ,R=100

display software
Display Software
  • The software on PC side:
    • Processing of the raw measurement data
    • Calculation of the next position according to the state equations
    • Apply filtering, if necessary
    • Display the new position on screen in simultaneously
display software1
Display Software

Testing:

  • MATLAB is used for map building,filtering
  • MATLAB Serial Port I/O Interface
  • The CAS Robot NavigationToolbox (GPL)

Final Software:

  • Written in C++ byWh.Electronics
  • With a GUI showingmapbuildingprocess
map extraction1
>LINE FOLLOWER

> SENSORS FOR MAPPİNG

> MAPPING ALGORITHM&DISPLAY

>> DATA TRANSMISSION

MAP EXTRACTION

rf block diagram
RF Block Diagram
  • Data:
  • OMS Measurement
  • Digital Compass Measurement
why atx 34s arx 34
WhyATX-34S & ARX-34 ?
  • HighFrequencyStability
  • LowCost (ATX->7TL, ARX->10TL)
  • LowBatteryConsumption(max 10mA)
  • EasyIntegrationwith PIC
  • GoodDocumentation
power consu mption
Power Consumption

≈ 4-5 Watt

(≈45 Minutes)

deliverables
Deliverables
  • Mobile Robot
  • User’s Manual
  • PC Connected Hardware
  • Warranty Document
  • Rechargeable Battery Pack
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