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  1. Project Cybot - Ongo01 • Project Leaders: • Sath Sivasothy • Caleb Huitt • Faculty Advisor: • Dr. Ralph Patterson • Client: • Department of Electircal and Computer Engineering • Acknowledgements: • Dr. Lawrence Genalo Overview December 12, 2001

  2. Presentation Outline • Overview • Sensors • Power • End-Effector • Motion Control • Software • Interactive Learning • Summary Overview

  3. Introduction OSCAR (Concept) OSCAR (Current) Overview

  4. Team Cybot History - Once a club - Robots: Zorba - No longer exists Cybot - Department Ambassador - Many demonstrations - Now failing OSCAR - Newest robot - Being designed and built Overview

  5. Organization • Six subteams • Sensors • Power • End-Effector • Motion Control • Software • Interactive Learning (New Addition) • Weekly subteam meetings • Weekly team leader meetings • E-mail mailing lists Overview

  6. Subteam Interaction Overview

  7. Previous Accomplishments • Cybot: • Complete motion control • Moving arm • Speech and voice recognition • Many and complex demonstrations • OSCAR: • Complete design • Motion control • Sensors installed • Gripper fabricated Overview

  8. Beginning of the Semester • Cybot: • Motion control inoperable • Arm stopped working over summer • Speech still works • Very few demonstrations work • OSCAR: • Motion control nearly complete • Few demonstrations • Sensors usually working • Arm design nearly complete • Solid power system • Few people know about robot Overview

  9. End Goals • Cybot: • Restore to previous functionality • OSCAR: • Robot can accomplish tasks autonomously • Speech control and interaction • Internet interface for remote learning • Ability to demonstrate with a few minutes notice • Take over Cybot’s role as ambassador • Become famous (at least on campus) Overview

  10. Semester Goals • Concentrate on OSCAR: • Motion control stabalized • Sonar sensors working • New sensors installed • Easier robot control: • - Voice • - Arrow keys • New computer power supply • Finish arm design • Manufacture more of arm • Investigate ways to get robots “heard about” • Give demonstrations of robots Overview

  11. Risks and Concerns • Problems with previous work • Hardware breakdown • Time available • Personnel problems • Technical knowledge • Demonstrations Overview

  12. Risk Management • Test early • Deal with it as the problems arise • Schedule properly • Stay flexible in assignments • Good documentation • Keep Cybot as functional as possible Overview

  13. Questions Overview

  14. Sensors Team Sensors

  15. Sensors Team • Team Members: • Chris Hutchinson (CprE, 2nd) - team leader • Adam Kasper (CprE, 2nd) • Saw Meng-Soo (CprE, 2nd) • Waqar Habib (EE, 1st) Sensors

  16. Problem Statement • Provide sensing capabilities • Finish sonar system • Add compass and temperature sensors • Determine accuracy and limits • Finalize software interface Sensors

  17. Design Objectives • Modular design • Future expandability • Low power consumption • Provide accurate data Sensors

  18. Assumptions and Limitations • Assumptions: • Only one sensing function at a time • Only one active transducer at a time • Limitations: • Sonar effective from 1.5 to 35 feet • EM interference affects compass • Limited microcontroller I/O pins • Limited power and space Sensors

  19. Risks and Concerns • Part damage • Electromagnetic interference • Inconsistent data Sensors

  20. End Product Description • Distance sensing within +/- 3% • Temperature sensing within +/- 2° F • Data filtering • Reliable software interface Sensors

  21. Technical Approach • Completion of sonar system: • Multiplex with programmable logic • Permanently mount all components • Tweek for accuracy • Determine limits Sensors BasicX-24 Microcontroller Transducer

  22. Technical Approach • Addition of new sensors: • Thermistor for temperature sensing • Dinsmore 1655 Analog Compass • Tweek for accuracy (ongoing) Sensors

  23. 1 byte 1 byte 1 byte Technical Approach • Software Interface: • Serial communication • Modular / scaleable design • Simple implementation • Interface protocol - Sensors ATN Command Operand(s)

  24. Completed System Sensors

  25. Problems Encountered • Damaged programmable logic chip • Memory issues • Sonar noise • Transducer dissipation • Inaccurate compass Sensors

  26. Evaluation of Success • Software interface implemented • Integration of new sensors • Accurate and reliable reporting of data • Met financial and time budgets Sensors

  27. Future Work • Data accuracy • Efficiently utilize sensors • Additional sensors: • - Video imaging • - Tactile / Pressure • - Infrared Sensors

  28. Lessons Learned • Experience with the BX-24 microcontroller • Implementation of analog and digital sensors • Demonstrations with large groups • Things break – roll with the punches Sensors

  29. Summary • Sensor system is fully functional • OSCAR has the power to interact • Ready for further sensing capability Sensors

  30. Questions Sensors

  31. Demonstrations • Sonar sensors • Compass sensor • Thermistor Sensors

  32. Power Team Power

  33. Power Team • Team Members: • Nicholas Sternowski (EE, 2nd) - team leader • Kris Kunze (EE, 1st) Power

  34. Design Objectives • Install new batteries • Replace DC/AC inverter • Build/Test/Install DC/DC converter Power

  35. Assumptions and Limitations • Assumptions: • Batteries in good working condition • Limitations: • Batteries can only be run down to 50% • Initial power system design not available • Limited budget • No experience with PCB fab Power

  36. Risks and Concerns • Short circuit • Power system with charger Power

  37. Technical Approach • Cheaper is better! • Utilize readily available batteries • Parallel DC/DC converters Power

  38. Technical Approach Power

  39. Technical Approach Power

  40. Technical Approach Power

  41. Problems Encountered • PCB fabrication • Part order delays Power

  42. Evaluation of Success • DC/DC converter design determined • PCB fabrication • Parts ordered • Batteries installed & functioning Power

  43. Future Work • Completing of DC/DC converter • Provide power to sensor, end effector teams • System protection Power

  44. Lessons Learned • Power supply operation • Slow drain on batteries cause failure • PCB fabrication • Minimum order requirements are a killer Power

  45. Summary • Didn’t meet all goals • Work needed identified Power

  46. Questions Power

  47. End-Effector Team End-Effector

  48. End-Effector Team • Team Members: • Jet Ming Woo (EE – 2nd ) – team leader • Alex Mohning (ME – ME 466 ) • Alex Rodrigues (ME – ME 466) • Chris Trampel (EE – 1st) • Yan Chak Cheung (EE – 1st) • Jim Schuster (Cpre – 1st) End-Effector

  49. Design Objectives • Full range of movement • Move at reasonable speed • Lift 2 lb objects • 1 lb at full arm extension • Lift 3” diameter objects • Controlled by OSCAR’s central computer • Modular approach End-Effector

  50. Assumptions and Limitations • Assumptions: • Sufficient funding for the fabrication of arm All motors will operate at 12 volts • Limitations: • Arm pivoted on top of OSCAR • Use JAVA to write the program • 12V available for gripper End-Effector