Major Project Slides

8/9/2019 Major Project Slides

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M: MULITITASKING

A: ACTIVE AND REMOTE CONTROLLED

S : SENSING

H: HARDWARE


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Definition of a Robot According to The Robot

Institute of America (1979) :"A reprogrammable, multifunctional manipulatordesigned to move materials, parts, tools, orspecialized devices through various programmedmotions for the performance of a variety oftasks."

According to the Webster dictionary:"An automatic device that performs functionsnormally ascribed to humans or a machine in the

form of a human (Webster, 1993)."


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Hazardous environment or material

Remote or unreachable location

Beyond human size scale

Power is beyond human capability

Speed is too high or low

Repetitive job or too precise


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-Early robot concepts

-Extending human capabilities-Automatic machines

-Robots in the workplace

-Robots for exploring

-Robots as companions

-Robots of the future


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The first person to use the

word robot was a playwright,

Czechoslovakian writer Karel

Capek first used the word robot

in his satirical play, R.U.R.

(Rossum's Universal Robots).Cover page of the first edition


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Expert systems Neural Systems


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Mobile robots are able to move,usually they perform tasks such assearching.

They are of 2 types: -

1) Rolling robots- Rolling robots havewheels to move around. They can

quickly and easilysearch. However they are only

useful in flat areas.2) Walking robots- Robots on legs are

usually brought in when theterrain is rocky. Most robots haveat least 4 legs; usually they have 6

or more.


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Autonomous robots are self-supporting.

They run a program that givesthem the opportunity to decide on

the action to perform depending ontheir surroundings.

At times, these robots even learn

new behavior. They start out with ashort routine and adapt this routineto be more successful at the task theyperform. The most successfulroutine will be repeated .


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In case a robot needs toperform more complicated yetundetermined tasks an

autonomous robot is not theright choice. Complicated tasks are stillbest performed by human beingswith real brainpower. A personcan guide a robot by remote

control. A person can performdifficult and usually dangeroustasks without being at the spotwhere the tasks are performed

Dante 2, a NASA robot designed toexplore volcanoes via remote control.


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MASH -1 : THE LINEFOLLOWING ROBOT


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Line Follower is a robot that can follow a blackline drawn on a white/bright surface or a whiteline on black/dark surface without any humanintervention.

It is the simplest autonomous robot.


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Function Human Robot

Locomotion Legs Wheels, propeller, legs

Thinking Brain Computer, controller

Sensing Senses Sensors & instruments

Manipulation Hands Gripper, end-effectors

Structure Bones Frame or platform

Energy Food Battery, solar panel, fuel


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Microprocessor

uP RAM

HDD

Ports (Serial/USB)

Ports (Parallel)

Mic/Headphone Jack (ADC/DAC)

Power Supply Unit

Reset

Mother-board

Microcontroller

uP

Flash Memory

EEPROM

SPI / UART Controllers

Digital I/O Ports ADC

Power Supply Unit

Reset

IC


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High-performance, Low-power AVR 8-bit

Microcontroller

High Endurance Non-volatile Memory segments

8K Bytes of In-System Self-programmable Flash

program memory 512 Bytes EEPROM

1K Byte Internal SRAM

In-System Programming by On-chip Boot Program

True Read-While-Write Operation


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Peripheral Features

Two 8-bit Timer/Counters

One 16-bit Timer/CounterMode

Real Time Counter with Separate Oscillator

Three PWM Channels

8-channel ADCEight Channels 10-bit Accuracy

Byte-oriented Two-wire Serial Interface

Programmable Serial USART

Master/Slave SPI Serial Interface


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P

ORT

A

P

ORTB

P

INA

Externalworld

uC


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DC geared motors

Drive trains

Set of gears arranged in a pattern

Motor on which a

gear box is mounted.

Volt : - 2

orq : double what you thin you will need


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Wheeled robots Most popular form of

locomotion in mobilerobotics.

Legged robots

Most popular form oflocomotion in nature.

Becoming more popularin robotics.


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Pretty good efficiency on flat surfaces.

Simple mechanical implementation.

Balance is usually not an issue.

Less able to cover rough terrain.

Focus is on: traction and stability,

manoeuvrability and control.Wheel types and configurations determine the

dynamics.

Nature has never invented them.


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a) standard motorized wheel

b) castor wheel

c) swedish wheel

d) spherical wheel


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These are the devices used for communication

purpose .

These devices uses a transmitters which aredevices used to send the data to the receiver using

radio frequency only.

The receiver on the other hand receives the radio

signals and then send it to the required device.


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A wireless camera is a device which acts exactly like

other video camera but only difference is that it is notdirectly or physically connected to the display device .

It is very compatible and very easy to use .

It mainly works either using radio frequency ,infra redor bluetooth range frequency


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Wireless remote control complexes the circuitry

But you can get rid of that long wired tail dangling out of your remotecontrol robot

Easiest solution would be to hack those cheap wireless toy cars, take their

electronic guts out and use them in your robot For more flexibility, you can build a custom remote control system

Use RF Tx/Rx modules and

encoder/decoder ICs


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Tools and some other components

Wire Stripper Pliers Variable resistors Switches

Diodes Transistor

Capacitor

Battery clips

Solder sucker Soldering ironwith stand

Circuit board


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Microcontroller

DC Motor Control

LeftMotor

RightMotor

Clock4 MHz

MainPowerSupply

MotorPowerSupply

HEXInverter

Signals from rf receiver anntena

Analog

Comparators

ThresholdVoltage

PriorityEncoder

NOR Gate


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D7 D6 D5 D4 D3 D2 D1 D0 OPERATIONPERFORMED

0 0 0 0 0 0 0 0STOP

0 0 0 0 0 1 0 0 FORWARDMOVEMENT

1 0 0 0 0 0 0 0 BACKWARDMOVEMENT


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RIGHTMOTOR D7

RIGHTMOTOR D2

LEFTMOTOR D7

LEFTMOTOR D2

OPERATIONPERFORMED

0 0 0 0STOP

0 1 0 1 MOVE FORWARD

1 0 1 0 MOVE BACKWARD

0 0 0 1 TURN LEFT

0 1 0 0 TURN RIGHT


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There are various software for creating hex file fromsource code and dumping the hex file

For converting source code to hex file ASM51 software,which converts the source code to hex code .

For dumping the hex file into the microcontrollerPROLOAD software is used ,it easily dumps all the ATMELmicrocontroller


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Remote controlled robots are used to survey the places

where human reach is impossible

For medical surgery and diagnosis

For study in space research and surveying

Mostly used in defense field specially in wars


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The steering mechanism is not easily implemented inhuge vehicles and impossible for non-electric vehicles

(petrol powered).

Lack of a four wheel drive, makes it not suitable for arough terrain.

Lack of speed control makes the robot unstable at times.

Attenuation in signal me cause lack of control .


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