Faculty AdvisorFaculty AdvisorDr. Ralph PattersonDr. Ralph Patterson

Project CybotProject Cybot Ongo01Ongo01

Project leadersProject leaders– Josh BertramJosh Bertram– Ben MartinBen Martin

Client:Client: Department of Electrical andDepartment of Electrical andComputer EngineeringComputer Engineering

April 25, 2001April 25, 2001

IntroductionIntroduction

CybotCybot OSCAROSCAR

Problem StatementProblem Statement

Focused on OSCARFocused on OSCAR

• Expand OSCAR’s capabilitiesExpand OSCAR’s capabilities– Need softwareNeed software– Need better control of motionNeed better control of motion– Need to know power usageNeed to know power usage– Need to sense environmentNeed to sense environment– Need to interact with environmentNeed to interact with environment

Project TeamsProject Teams

• Software Software – Control and user interface softwareControl and user interface software

• Motion ControlMotion Control– Upgrade/maintain motion control hardwareUpgrade/maintain motion control hardware

• PowerPower– Determine power usageDetermine power usage

• SensorSensor– Create sonar arrayCreate sonar array

• End-EffectorEnd-Effector– Create an armCreate an arm

Project BudgetsProject Budgets

Effort and Financial Budget

$851

$1,024

1876

2286

Actual

Estimated

Effort (hours)

Financial ($)

Software Team Software Team

Software TeamSoftware Team

Members:Members:

• Sean Wiechman (CprE – 2Sean Wiechman (CprE – 2ndnd) – team leader) – team leader• Fransiskus Arif Komala Fransiskus Arif Komala (CprE – 2(CprE – 2ndnd))• Curtis Balmer Curtis Balmer (CprE – 2(CprE – 2ndnd))• Adnan KhanAdnan Khan (CprE – 2 (CprE – 2ndnd) ) • Caleb HuittCaleb Huitt (CprE – 1 (CprE – 1stst) ) • Muhammad Saad SafiullahMuhammad Saad Safiullah (CprE – 1 (CprE – 1stst) ) • Anthony BozemanAnthony Bozeman (CprE – 1 (CprE – 1stst) )

Problem StatementProblem Statement

• Create simple, powerful software solutions to Create simple, powerful software solutions to control OSCAR, working with other subsystems control OSCAR, working with other subsystems such as Sensors and Motion Controlsuch as Sensors and Motion Control

• Last semester, rudimentary motion control Last semester, rudimentary motion control drivers and wireless network communication drivers and wireless network communication developed. developed.

• OSCAR’ s drivers buggy and demonstrations OSCAR’ s drivers buggy and demonstrations applications interface insufficientapplications interface insufficient

• OSCAR needs additional methods of controlOSCAR needs additional methods of control• Need to be able to communicate with sensorsNeed to be able to communicate with sensors

Design ObjectivesDesign Objectives

• Debug and validate driver codeDebug and validate driver code• Develop a suitable interface for demonstration Develop a suitable interface for demonstration

application developersapplication developers• Implement control over the InternetImplement control over the Internet• Implement voice controlImplement voice control• Develop software to interact with Sensor sub-Develop software to interact with Sensor sub-

team’s softwareteam’s software

End ProductEnd ProductDescriptionDescription

• System allowing accurate System allowing accurate control of OSCAR through control of OSCAR through Internet and voice Internet and voice controlcontrol

• The interface to each The interface to each component will be as component will be as simple as possiblesimple as possible

• Able to obtain sensor Able to obtain sensor informationinformation

• The system will be fully The system will be fully documenteddocumented

• The motion control The motion control hardware on OSCAR is hardware on OSCAR is functionalfunctional

• The sound card on The sound card on OSCAR is operationalOSCAR is operational

• Auxiliary computer able Auxiliary computer able to simultaneously use to simultaneously use two network cardstwo network cards

• Delay over the networks Delay over the networks negligiblenegligible

AssumptionsAssumptions and and LimitationsLimitations

System OverviewSystem Overview

Voice Command Web Browser

OSCAR’sKeyboard

Voice RecognitionSoftware

Java Server Pages Code

Drivers

• Drivers will be debugged and testedDrivers will be debugged and tested

• Easily understood interface will be created for Easily understood interface will be created for application developers application developers

• Voice control will be implemented using the Voice control will be implemented using the

Java Development Kit for IBM’s ViaVoiceJava Development Kit for IBM’s ViaVoice

Technical ApproachTechnical Approach

• Internet control will be attained using HTML Internet control will be attained using HTML forms and Java Server Pages (JSP)forms and Java Server Pages (JSP)

• Communication with sensors will take place Communication with sensors will take place over a serial port connection using protocol over a serial port connection using protocol defined by Sensors sub-teamdefined by Sensors sub-team

• Documentation will be completed and backed Documentation will be completed and backed up to several locationsup to several locations

Technical ApproachTechnical Approach

Effort BudgetEffort Budget

Effort Budget

468

660

0 100 200 300 400 500 600 700

Actual

Estimated

Hours

Evaluation of Evaluation of Project SuccessProject Success

• Driver code is debugged Driver code is debugged and testedand tested

• Intuitive interface for Intuitive interface for demonstration demonstration applications createdapplications created

• Voice control software is Voice control software is almost completealmost complete

• Internet control software Internet control software createdcreated

• Sensor software createdSensor software created

• Create software to Create software to interact with the end-interact with the end-effector subsystemeffector subsystem

• Develop demonstration Develop demonstration applications to further applications to further utilize capabilitiesutilize capabilities

• Document future workDocument future work• Create additional Create additional

diagnostic utilities for use diagnostic utilities for use by other sub-teamsby other sub-teams

Additional Additional WorkWork

• Very important to test Very important to test hardware earlyhardware early

• Learned about:Learned about:

- Java- Java

- Voice - Voice TechnologiesTechnologies

-Web -Web TechnologiesTechnologies

-Motion Control -Motion Control interfaceinterface

• Completed software to Completed software to facilitate easy control of facilitate easy control of OSCAR in various waysOSCAR in various ways

• Working out last Working out last problems with hardware problems with hardware on OSCAR’s computeron OSCAR’s computer

• Work is documented and Work is documented and will be easily extended by will be easily extended by future teamsfuture teams

SummarySummaryLessons Lessons LearnedLearned

Motion Control TeamMotion Control Team

Motion Control TeamMotion Control Team

Members:Members:

• Josh Bertram (CprE – 2nd ) – team leaderJosh Bertram (CprE – 2nd ) – team leader

• Jo-Yi Foo (EE – 2nd )Jo-Yi Foo (EE – 2nd )

• Sath Sivasothy (EE – 1st)Sath Sivasothy (EE – 1st)

• Rius Tanadi (EE – 1st)Rius Tanadi (EE – 1st)

• Robot movementRobot movement• Hardware Hardware

broken/unstablebroken/unstable• Incomplete Incomplete

documentationdocumentation

• Debug and maintain Debug and maintain robotsrobots

• Document system Document system fullyfully

Design Design ObjectivesObjectives

Problem Problem StatementStatement

End Product DescriptionEnd Product Description

• Working robotWorking robot

• DocumentationDocumentation– ConceptualConceptual– TechnicalTechnical

Assumptions and LimitationsAssumptions and Limitations

• Questioned original assumptionsQuestioned original assumptions– Was old software/hardware validated?Was old software/hardware validated?

• LimitationsLimitations– Robot stopped workingRobot stopped working– Incomplete documentationIncomplete documentation– Robots often used for presentationsRobots often used for presentations

Technical ApproachTechnical Approach

Subsystem “Black Box”Subsystem “Black Box”

Computer

Motion Control Subsystem

Motor(s)

Subsystem ComponentsSubsystem Components

Motion Control Subsystem

CPU

Motor

CPU Interface

Motion Controller

Motor Driver

Motion Detector

Evaluation of Project SuccessEvaluation of Project Success

Design Objective AnalysisDesign Objective Analysis

• RobotsRobots– Debug OSCAR – METDebug OSCAR – MET– Maintain Cybot – PARTIALLY METMaintain Cybot – PARTIALLY MET

• DocumentationDocumentation– Create conceptual documentation – METCreate conceptual documentation – MET– Upgrade technical documentation – METUpgrade technical documentation – MET– Create test descriptions – METCreate test descriptions – MET

• BudgetBudget

Financial BudgetFinancial Budget

Financial Budget

$336

$545

$- $100 $200 $300 $400 $500 $600

Actual

Estimated

Effort BudgetEffort Budget

Effort Budget

447

345

0 50 100 150 200 250 300 350 400 450 500

Actual

Estimated

Hours

Additional WorkAdditional Work

• Aid end-effector teamAid end-effector team

• Develop circuit enclosureDevelop circuit enclosure

• TutorialTutorial

Lessons LearnedLessons Learned

• DebugDebug – Isolation of variablesIsolation of variables– Component validationComponent validation

• DocumentationDocumentation– Audience analysisAudience analysis– Non-technical writingNon-technical writing

SummarySummary

• OSCAR worksOSCAR works

• Better foundationBetter foundation– Better documentationBetter documentation– Better testing proceduresBetter testing procedures

Power TeamPower Team

Power TeamPower Team

Members:Members:

• Kiet Nguyen (EE – 2nd) co-leaderKiet Nguyen (EE – 2nd) co-leader

• Nick Sternowski (EE – 1st ) co-leaderNick Sternowski (EE – 1st ) co-leader

• Nathan Nguyen (EE – 2nd)Nathan Nguyen (EE – 2nd)

Design Design ObjectivesObjectives

• To provide effective To provide effective power system supportpower system support

• Provide a 5 Volt, 2 Provide a 5 Volt, 2 Ampere source to sensor Ampere source to sensor teamteam

• Determine power budgetDetermine power budget

• Install and test new Install and test new battery monitorbattery monitor

• Re-program existing Re-program existing battery monitorbattery monitor

• Collect and analyze Collect and analyze power consumption from power consumption from sub teamssub teams

• Design, build, test power Design, build, test power supply for sensor arraysupply for sensor array

• Determine alternate way Determine alternate way to charge batteriesto charge batteries

Problem Problem StatementStatement

Assumptions & LimitationsAssumptions & Limitations

• OSCAR will operate OSCAR will operate with charged with charged batteriesbatteries

• Sensor array can Sensor array can handle very short 4 A handle very short 4 A pulsepulse

• Power supply will not Power supply will not overheatoverheat

• Batteries can be run Batteries can be run down to 25%down to 25%

• Battery monitors are Battery monitors are accurate to +/-5%accurate to +/-5%

• Ampere-hour figures Ampere-hour figures are peak conditionsare peak conditions

Technical ApproachTechnical Approach

• Use a switching voltage regulatorUse a switching voltage regulator

• Create circuit for voltage regulatorCreate circuit for voltage regulator

• Correctly program battery monitorsCorrectly program battery monitors

• Fully test all systems before installationFully test all systems before installation

End Product DescriptionEnd Product Description

• Stable, reliable power supply for sensor arrayStable, reliable power supply for sensor array

• Accurate battery monitorsAccurate battery monitors

• Documentation explaining design techniquesDocumentation explaining design techniques

• Power consumption figuresPower consumption figures

Battery MonitorBattery Monitor

Power Supply for Sensor ArrayPower Supply for Sensor Array

Financial BudgetFinancial Budget

Financial Budget

$183

$150

$- $20 $40 $60 $80 $100 $120 $140 $160 $180 $200

Actual

Estimated

Effort BudgetEffort Budget

Effort Budget

205

195

0 50 100 150 200

Actual

Estimated

Hours

Evaluation of Project SuccessEvaluation of Project Success

• Install and program two accurate battery Install and program two accurate battery monitors – METmonitors – MET

• Simple method of charging batteries Simple method of charging batteries simultaneously - METsimultaneously - MET

• Build 5 Volt, 2 Ampere source for sensor Build 5 Volt, 2 Ampere source for sensor subteam – METsubteam – MET

• Documented power consumption statistics - Documented power consumption statistics - METMET

Additional WorkAdditional Work

• Add protection for each sub system and major Add protection for each sub system and major componentcomponent

• Removal of DC/AC inverterRemoval of DC/AC inverter

• Supply power to end effector teamSupply power to end effector team

Lessons LearnedLessons Learned

• Communication with other groupsCommunication with other groups

• Documentation for future teamsDocumentation for future teams

• Selection of voltage regulatorsSelection of voltage regulators

• Documentation provided by manufacturersDocumentation provided by manufacturers

Sensor TeamSensor Team

Sensor TeamSensor Team

Members:Members:

• Ben Martin (CprE – 2nd) – team leaderBen Martin (CprE – 2nd) – team leader• Jill Bigley (CprE – 2nd)Jill Bigley (CprE – 2nd)• Adam Kasper (CprE – 1st)Adam Kasper (CprE – 1st)• Chris Hutchinson (CprE – 1st)Chris Hutchinson (CprE – 1st)• Saw-Meng Soo (CprE – 1st) Saw-Meng Soo (CprE – 1st) • Naveen Byreddy (CprE - volunteer)Naveen Byreddy (CprE - volunteer)

Design Design ObjectivesObjectives

• Provide sensing Provide sensing capabilitiescapabilities

• Finish sonar systemFinish sonar system– Design software for Design software for

sonar systemsonar system– Integrate hardware Integrate hardware

componentscomponents– DocumentationDocumentation

• Modular designModular design

• Future expandabilityFuture expandability

• Software interfaceSoftware interface

• Accurate and reliableAccurate and reliable

Problem Problem StatementStatement

End ProductEnd ProductDescriptionDescription

• Eight individual Eight individual distance measuring distance measuring sensorssensors

• Simple computer Simple computer interfaceinterface

• Capable of logging Capable of logging datadata

• Modular designModular design

• Appropriate power can Appropriate power can be providedbe provided

• Accurate from 40 cm - Accurate from 40 cm - 10 m10 m

• One sonar fires at a One sonar fires at a timetime

• Limited memory Limited memory available for data available for data logginglogging

AssumptionsAssumptions andandLimitationsLimitations

Technical Approach:Technical Approach:HardwareHardware

Sensor

Driver Board

Micro-controller

Computer Interface

to micro-controller

Technical Approach:Technical Approach:HardwareHardware

Computer Interface

Multiplexer

Ribboncable todriver boardsMicro-

controller

Technical Approach:Technical Approach:HardwareHardware

Completed systemCompleted system

• Interface Protocol -Interface Protocol -

1 byte 1 byte 1 byte

• Commands -Commands -• Single fire (FireRaw)Single fire (FireRaw)• Multiple fire (FireFilter)Multiple fire (FireFilter)• Micro-controller ResetMicro-controller Reset

• ModularModular

ATN Command Operand(s)

Technical Approach:Technical Approach:SoftwareSoftware

Evaluation of Evaluation of project successproject success

• Sonar software system Sonar software system implementedimplemented

• Systems integration Systems integration successfulsuccessful

• Accurate and reliable Accurate and reliable ranging system ranging system

• BudgetsBudgets

• Implement sonar Implement sonar gridgrid

• Develop transducer Develop transducer conescones

• Develop sonar Develop sonar analysis softwareanalysis software

• Other sensors:Other sensors:– End-effectorEnd-effector– TemperatureTemperature– CompassCompass

Additional WorkAdditional Work

Financial BudgetFinancial Budget

Financial Budget

$37

$34

$- $5 $10 $15 $20 $25 $30 $35 $40

Actual

Estimated

Effort BudgetEffort Budget

Effort Budget

324

294

0 50 100 150 200 250 300 350

Actual

Estimated

Hours

• Gained practical Gained practical experience with:experience with:– Sonar hardwareSonar hardware– FirmwareFirmware– Programmable Logic Programmable Logic

DevicesDevices– PCB design and PCB design and

manufacturemanufacture

• OSCAR’s sensor system OSCAR’s sensor system is fully functionalis fully functional

• Environmental Environmental feedback is available feedback is available for the first timefor the first time

SummarySummaryLessons Lessons LearnedLearned

End-Effector Team End-Effector Team

End-Effector TeamEnd-Effector Team

Members:Members:

• Tim McCormick (CprE – 2nd ) – team leaderTim McCormick (CprE – 2nd ) – team leader• Linda Lua (EE – 2nd )Linda Lua (EE – 2nd )• Mike Taylor (ME – 2nd)Mike Taylor (ME – 2nd)• Jet Ming Woo (EE – 1st)Jet Ming Woo (EE – 1st)• Stephen Shi (CprE – 1st)Stephen Shi (CprE – 1st)• Mark Bly (ME – 2nd)Mark Bly (ME – 2nd)• John Cao (ME – 2nd)John Cao (ME – 2nd)

Problem Problem StatementStatement

• OSCAR needs an end-OSCAR needs an end-effector effector

• Basic physical features Basic physical features of arm identifiedof arm identified

• Decide on details of Decide on details of implementation and implementation and create detailed design create detailed design of armof arm

• Build portion of armBuild portion of arm

• Full range of Full range of movementmovement

• Move at reasonable Move at reasonable speedspeed

• Lift 2 lb objects (1lb at Lift 2 lb objects (1lb at full arm extension)full arm extension)

• Lift 3” diameter Lift 3” diameter objectsobjects

• Controlled by OSCAR’s Controlled by OSCAR’s central computer central computer

• Modular approachModular approach

Design Design ObjectivesObjectives

Technical Technical ApproachApproach

• Limited time and budgetLimited time and budget• Developed over several Developed over several

semesterssemesters• Limited manufacturing Limited manufacturing

experienceexperience• Limited power Limited power

consumptionconsumption• Must run on 12 Volts and Must run on 12 Volts and

1.5 amps1.5 amps

• Develop a concept for Develop a concept for the design of the armthe design of the arm

• Analysis of designAnalysis of design• Specification of Specification of

componentscomponents• Develop detailed Develop detailed

drawings and schematicsdrawings and schematics• Develop software and Develop software and

electronic control circuitselectronic control circuits• Assembly and testingAssembly and testing

Assumptions andAssumptions andLimitationsLimitations

Gripper Control DesignGripper Control Design

• Using Stepping Motor Using Stepping Motor • Control software in JavaControl software in Java• Stepper motor controlled Stepper motor controlled

by L/R drive cardby L/R drive card• Higher torqueHigher torque• Smaller sizeSmaller size• Increased functionalityIncreased functionality

• Capable of future Capable of future modificationsmodifications• MicrosteppingMicrostepping• Position encodersPosition encoders

Gripper DesignGripper Design

• Stepper actuatorStepper actuator– InexpensiveInexpensive– CompactCompact– Linear drive without Linear drive without

transmissiontransmission

• Linkages easy to Linkages easy to manufacturemanufacture

• Interchangeable Interchangeable fingers fingers

• Base easily attached to Base easily attached to armarm

Overall DesignOverall Design

• Arm will pivot on top-Arm will pivot on top-center of OSCARcenter of OSCAR

• Aluminum linksAluminum links• Driven by Pittman DC Driven by Pittman DC

motorsmotors• Joints use modular Joints use modular

worm gear assemblyworm gear assembly• CAD drawings of entire CAD drawings of entire

arm (excluding wrist) arm (excluding wrist) completedcompleted

Worm Gear Drive DesignWorm Gear Drive Design

• Pittman DC motorPittman DC motor– ReliableReliable– Reduced speedReduced speed– Readily availableReadily available

• Worm assemblyWorm assembly– Perpendicular Perpendicular

transmissiontransmission– Dramatic torque gainsDramatic torque gains– No back drive – save No back drive – save

powerpower• Modular designModular design

– Easy manufactureEasy manufacture– Repeatable sparesRepeatable spares

Evaluation of Evaluation of Project SuccessProject Success

• Complete detailed design Complete detailed design of arm - METof arm - MET

• Detailed drawings of Detailed drawings of completed arm - METcompleted arm - MET

• Complete plan for future Complete plan for future work – PARTIALLY METwork – PARTIALLY MET

• Develop control circuits for Develop control circuits for the hand - METthe hand - MET

• Develop control software Develop control software for the hand – PARTIALLY for the hand – PARTIALLY METMET

• Manufacture Manufacture mechanical partsmechanical parts

• Develop control Develop control softwaresoftware

• Assemble and test armAssemble and test arm• Incorporate sensors Incorporate sensors

into the control of arm into the control of arm and end-effectorand end-effector

• Explore possibility of Explore possibility of multiple handsmultiple hands

Additional WorkAdditional Work

Financial BudgetFinancial Budget

Financial Budget

$295

$295

$- $50 $100 $150 $200 $250 $300 $350

Actual

Estimated

Effort BudgetEffort Budget

Effort Budget

534

690

0 100 200 300 400 500 600 700 800

Actual

Estimated

Hours

Lessons Lessons LearnedLearned

• Researching as much as Researching as much as possible before deciding possible before deciding on implementationon implementation

• Don’t reinvent the Don’t reinvent the wheelwheel

• Working with people Working with people from other disciplines is from other disciplines is rewardingrewarding

• Communication is Communication is criticalcritical

• Hand assembly Hand assembly completed completed

• Worm gear assembly Worm gear assembly detaileddetailed

• Overall design of Overall design of entire arm entire arm completedcompleted

• Future work planned Future work planned for the completion of for the completion of armarm

SummarySummary

Project SummaryProject Summary

Lessons LearnedLessons Learned

• What went well?What went well?– CommunicationCommunication

• Weekly meetingsWeekly meetings• Three-tier organizationThree-tier organization

– ProgressProgress• Teams met most or all of goalsTeams met most or all of goals

• What could have been better?What could have been better?– Ramp-upRamp-up

• Lost time in first 3-5 weeksLost time in first 3-5 weeks

– Report generation processReport generation process

SummarySummary

• OSCAR closer to autonomousOSCAR closer to autonomous– Core software in placeCore software in place– Can sense environmentCan sense environment– Halfway to completed armHalfway to completed arm

• Better foundationBetter foundation– Better understand motion controlBetter understand motion control– Know power consumptionKnow power consumption

Questions?Questions?