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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

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