© 2001 by default!slide 1 project cybot/oscar ongo01 may 30, 2002

© 2001 By Default!Slide 1

ProjectProjectCybot/OSCARCybot/OSCAR

ongo01ongo01

May 30, 2002


IntroductionIntroduction

Project AdvisorProject Advisor– Dr. Ralph PattersonDr. Ralph Patterson

Project Co-LeadersProject Co-Leaders– Kivanc Kahya, CprE, 2Kivanc Kahya, CprE, 2ndnd Semester Semester– John Davidson, CprE, 2John Davidson, CprE, 2ndnd Semester Semester

ClientClient– Department of Electrical and Computer Department of Electrical and Computer

EngineeringEngineering


IntroductionIntroduction

Ongoing senior design projectOngoing senior design project Project includes two robotsProject includes two robots

– Octagonal, Speech-Controlled, Autonomous Octagonal, Speech-Controlled, Autonomous Robot (OSCAR)Robot (OSCAR)

– CybotCybot OSCAR is new and nearing completionOSCAR is new and nearing completion Cybot is old and remains semi-functionalCybot is old and remains semi-functional


Project Sub-TeamsProject Sub-Teams

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

End-EffectorEnd-Effector– Create an arm, wrist, and gripper assemblyCreate an arm, wrist, and gripper assembly

SensorSensor– Create and maintain a reliable sensing systemCreate and maintain a reliable sensing system

Software Software – Develop control and user-interface softwareDevelop control and user-interface software

PowerPower– Supply sufficient power for all sub-systemsSupply sufficient power for all sub-systems


Project BudgetProject Budget

Sub-teamSub-team PersonnelPersonnel FinancialFinancial

Motion ControlMotion Control 266266 $12.00$12.00

End-EffectorEnd-Effector 582582 $715.13$715.13

SoftwareSoftware 275275 $12.00$12.00

SensorsSensors 152152 $107.00$107.00

PowerPower 135135 $56.00$56.00

Team LeadersTeam Leaders 175175 $0.00$0.00

TotalsTotals 15851585 $902.13$902.13


Motion Motion ControlControl


MembersMembers

Brooks Graner (CprE –2Brooks Graner (CprE –2ndnd) Sub-Team Leader) Sub-Team Leader Boon-Siang Cheah (CprE –2Boon-Siang Cheah (CprE –2ndnd)) Robert Milliken (EE – 1Robert Milliken (EE – 1stst)) Chao-Hern Wong (EE – 1Chao-Hern Wong (EE – 1stst))


Problem StatementProblem Statement

Failure of motion control system of OSCARFailure of motion control system of OSCAR– Current motor driver circuit design flawsCurrent motor driver circuit design flaws

• Same design as Cybot, but larger motor loadSame design as Cybot, but larger motor load Failure of motion control system of CybotFailure of motion control system of Cybot New motor driver design for OSCARNew motor driver design for OSCAR

– New H-Bridge controllerNew H-Bridge controller– New H-Bridge design with NMOS and PMOSNew H-Bridge design with NMOS and PMOS– Motor load issues, high frequency vibrationMotor load issues, high frequency vibration

Restore Cybot’s motion (time permitting)Restore Cybot’s motion (time permitting)– Worked in the past, what went wrong?Worked in the past, what went wrong?


Design ObjectivesDesign Objectives

Research, Design, Implement new motor driver Research, Design, Implement new motor driver circuit for OSCARcircuit for OSCAR– New H-Bridge controller (TPS2811)New H-Bridge controller (TPS2811)

• Suggested by Mr. Barry Beulow of Rockwell CollinsSuggested by Mr. Barry Beulow of Rockwell Collins• Will use TPS2814 and TPS2815Will use TPS2814 and TPS2815

– Needs to work with current microcontroller (LM629)Needs to work with current microcontroller (LM629)– Needs to work with current MOSFET’sNeeds to work with current MOSFET’s

• Better H-Bridge design with PMOS and NMOS transistorsBetter H-Bridge design with PMOS and NMOS transistors

Restore Cybot’s motionRestore Cybot’s motion– Design is goodDesign is good– Possibly a bad chipPossibly a bad chip


End Product DescriptionEnd Product Description

OSCAR will have full motion capabilitiesOSCAR will have full motion capabilities– Forward, backward, rotate left and rightForward, backward, rotate left and right– Efficient, stable circuitEfficient, stable circuit

Cybot will have motion restoredCybot will have motion restored


Assumptions & LimitationsAssumptions & Limitations

AssumptionsAssumptions– Microcontroller design goodMicrocontroller design good– Software will work for new designSoftware will work for new design– Will have funding for new H-Bridge controller chipsWill have funding for new H-Bridge controller chips

LimitationsLimitations– Limited budgetLimited budget– Part ordering takes timePart ordering takes time– Minimum PWM of LM629 is 3.9kHzMinimum PWM of LM629 is 3.9kHz– Problems setting PWM signalProblems setting PWM signal


Project Risks & ConcernsProject Risks & Concerns

Time – Goal to have OSCAR functional by Time – Goal to have OSCAR functional by VEISHEAVEISHEA– Regular weekly meetingsRegular weekly meetings

Part orderingPart ordering– Order parts early in semesterOrder parts early in semester

Will design work?Will design work?– Intensive researchIntensive research– Outside assistanceOutside assistance


Technical ApproachTechnical Approach

Motion Control System interactionMotion Control System interaction

ComputerComputerComputerComputer

Motion Control Motion Control SystemSystem

Motion Control Motion Control SystemSystem

Motor(s)Motor(s)Motor(s)Motor(s)



CPUCPUCPUCPUCPU InterfaceCPU InterfaceCPU InterfaceCPU Interface

Motion ControllerMotion ControllerMotion ControllerMotion Controller

Motor DriverMotor DriverMotor DriverMotor Driver

MotorMotorMotorMotor

Motion Control SystemMotion Control System

Motion DetectorMotion DetectorMotion DetectorMotion Detector



Motor driver circuit and H-BridgeMotor driver circuit and H-Bridge

1 2

MOS Driver

in2out1in1out2

7409

1

23

NMOS

Motor Load

1 2

Control Logic

7409

1

23

PMOS

NMOS

0

H-bridge

Level Shifter

in2out1in1out2out3in3

in4 out4

7409

1

23

1 2

PWM Signal

Direction

MOS Driver

in2out1in1out2

1 2

PMOS

7409

1

23

Battery (12 V)


Evaluation of Project SuccessEvaluation of Project Success

Full Motion Capability of OSCARFull Motion Capability of OSCAR– Partially metPartially met

• H-Bridge design with PMOS/NMOS completeH-Bridge design with PMOS/NMOS complete• H-Bridge control circuit design completeH-Bridge control circuit design complete• Integration with LM629 incompleteIntegration with LM629 incomplete

Cybot’s motion control restoredCybot’s motion control restored– Partially metPartially met

• Motion control circuit back togetherMotion control circuit back together• Software to test it doesn’t workSoftware to test it doesn’t work


Recommendations for Future WorkRecommendations for Future Work

Layout the H-Bridge circuit on PCBLayout the H-Bridge circuit on PCB– Circuit design is good, needs to be on a PCBCircuit design is good, needs to be on a PCB

Additional work with LM629Additional work with LM629– Need to adjust frequency of PWM signalNeed to adjust frequency of PWM signal


Financial BudgetFinancial Budget

DescriptionDescription QuantityQuantity Unit PriceUnit Price TotalTotal

Poster DuesPoster Dues 44 $3.00$3.00 $12.00$12.00

TPS 2814TPS 2814 22 Free SampleFree Sample $0.00$0.00

TPS 2815TPS 2815 22 Free SampleFree Sample $0.00$0.00

PMOS TransistorsPMOS Transistors 22 Free SampleFree Sample $0.00$0.00

TotalTotal $12.00$12.00


Personnel BudgetPersonnel Budget

MemberMember EstimatedEstimated RevisedRevised ActualActual

Brooks GranerBrooks Graner 7575 7575 7777

Boon-Siang CheahBoon-Siang Cheah 6767 6767 6161

Robert MillikenRobert Milliken 6262 6262 6767

Chao-Hern WongChao-Hern Wong 6262 6262 6969

TotalsTotals 266266 266266 274274


Lessons LearnedLessons Learned

A design once thought to be correct may be A design once thought to be correct may be totally wrong, eg. H-Bridge Circuit using LT totally wrong, eg. H-Bridge Circuit using LT 11581158

Don’t be afraid to start a new design from Don’t be afraid to start a new design from scratchscratch

Keep good documentationKeep good documentation Professional outside resources are very Professional outside resources are very

helpfulhelpful


SummarySummary

OSCAR now has a partially functional OSCAR now has a partially functional motor drive circuit, and H-Bridge circuitmotor drive circuit, and H-Bridge circuit

– This circuit will need to be placed on a PCBThis circuit will need to be placed on a PCB– The LM629 circuit will need to be tested for The LM629 circuit will need to be tested for

different PWM frequenciesdifferent PWM frequencies With this semester’s design and the With this semester’s design and the

previous 2 goals met, OSCAR will move!previous 2 goals met, OSCAR will move!


End-EffectorEnd-Effector


MembersMembers

Yan-Chak Cheung (EE – 2Yan-Chak Cheung (EE – 2ndnd) Sub-Team Leader) Sub-Team Leader Chris Trampel (EE – 2Chris Trampel (EE – 2ndnd)) Muhammed Rahim (EE – 2Muhammed Rahim (EE – 2ndnd)) Thi-Ha Soe (EE – 1Thi-Ha Soe (EE – 1stst)) Mike Nguyen (CprE – 1Mike Nguyen (CprE – 1stst)) Matt Baird (ME – 1Matt Baird (ME – 1stst)) Tony Gartner (ME – 1Tony Gartner (ME – 1stst)) Chad Harbour (ME – 1Chad Harbour (ME – 1stst))



OSCAR requires a robotic arm to interact OSCAR requires a robotic arm to interact with its surroundingswith its surroundings

Stresses on the structure of the armStresses on the structure of the arm Low power consumptionLow power consumption Controlled by OSCAR’s central computerControlled by OSCAR’s central computer



Design and build the control circuitDesign and build the control circuit Develop software for motor controlDevelop software for motor control Easy to use software interfaceEasy to use software interface Fabricate the whole armFabricate the whole arm



The arm will pivot on center top of OSCARThe arm will pivot on center top of OSCAR Lift 2 lb objectsLift 2 lb objects

– 1 lb at full arm extension1 lb at full arm extension Gripper could hold items 3” wideGripper could hold items 3” wide



Assumptions:Assumptions:– Sufficient funding for the fabrication of armSufficient funding for the fabrication of arm– All motors will operate at 12 voltsAll motors will operate at 12 volts– Fabrication facilities available on campusFabrication facilities available on campus

Limitations:Limitations:– Arm pivoted on top of OscarArm pivoted on top of Oscar– Arm must remain under 12 poundsArm must remain under 12 pounds– Arm must be designed to allow future Arm must be designed to allow future

modifications modifications – Must use JavaMust use Java



RResearch on existing control circuitsesearch on existing control circuits Develop layout for the control circuit boardsDevelop layout for the control circuit boards Develop software controlDevelop software control Machine the armMachine the arm



Control circuit block diagramControl circuit block diagram

PWMPWM

Quadrature Incremental FeedbackQuadrature Incremental FeedbackDCDC

MotorMotor

MotionMotionControllerControllerLM 629LM 629

MotionMotionControllerControllerLM 629LM 629

PCPCPCPC

H-BridgeH-BridgeLMD18200LMD18200H-BridgeH-Bridge

LMD18200LMD18200


LMD18200 Schematic DiagramLMD18200 Schematic Diagram


LMD18200 Board LayoutLMD18200 Board Layout


Structural Design and Structural Design and FabricationFabrication

o FrameworkFrameworko MotorsMotorso GearsGearso BearingsBearingso GripperGrippero General PartsGeneral Parts


Fabrication BudgetFabrication Budget

Brand Model #Motor Pittman GM8724S015 1 $186.44Worm Gear Boston Gear GB1050A13626 1 $44.47Worm Boston Gear H1056RH12962 1 $35.83Motor Pittman GM9236S019 1 $180.36Worm Gear Boston Gear GB1052A13630 1 $62.39Worm Boston Gear H1056RH12962 1 $35.83Motor Pittman GM9236S019 1 $180.36Worm Gear Boston Gear GB1050A13626 1 $44.47

Worm Boston Gear H1056RH12962 1 $35.83

Motor Pittman GM8724S027 1 $186.44

Spur Gear - 12 teeth Boston Gear H241209596 1 $8.14

Spur Gear - 30 teeth Boston Gear H243009612 1 $24.32

Tapered Roller Bearing Timken A2037-A2126 2 $25.00

Motor Pittman GM9236S019 1 $180.36

Worm Gear Boston Gear GB1050A13626 1 $44.47Worm Boston Gear H1056RH12962 1 $35.83

Tapered Roller Bearing Timken A2037-A2126 2 $25.00Total Price $1,385.54 $556.98

Arm SectionArm

Sub-sectionPart Quantity Unit Price Total Sub-section Our Price

Specifications

$143.22Twist

Bend

Shoulder

Wrist

Pivot

Joint

BendElbow

$140.18

$266.74

$278.58

$260.66

$268.90

$310.66

$93.22

$90.18

$90.18

60% Savings Direct from Factory


Possible Mechanical ImprovementsPossible Mechanical Improvements

o Shock AbsorptionShock Absorptiono Adjustment of Support WheelsAdjustment of Support Wheelso Modification of the GripperModification of the Grippero Possible Clutch SystemPossible Clutch Systemo Detachable arm to allow for quick Detachable arm to allow for quick

change to buzz saw for battle-bot change to buzz saw for battle-bot mode.mode.



Cost of developmentCost of development Buy widely used parts at the beginning of the Buy widely used parts at the beginning of the

semestersemester Power Consumption of motorsPower Consumption of motors Takes long time to machine the armTakes long time to machine the arm



The project is said to be successfulThe project is said to be successful 70% of completion70% of completion

– Modified the wrist design – MetModified the wrist design – Met– Location of less expensive motors – MetLocation of less expensive motors – Met– Design of gripper control software – MetDesign of gripper control software – Met– Basic components ordered and machining – MetBasic components ordered and machining – Met– Complete fabrication of control boards – Partially Complete fabrication of control boards – Partially

metmet– Design of arm control software – Not metDesign of arm control software – Not met– Assemble and test arm components and control Assemble and test arm components and control

systems – Not metsystems – Not met



Assemble and test the whole armAssemble and test the whole arm Design software to control the armDesign software to control the arm Documentation of the armDocumentation of the arm Install a small camera and pressure Install a small camera and pressure

sensorssensors on the gripperon the gripper



DescriptionDescription QuantityQuantity Unit CostUnit Cost Total CostTotal Cost

PosterPoster 88 $3.00$3.00 $24.00$24.00

Drive motorsDrive motors 44 $471.13$471.13

Motor control circuit Motor control circuit componentscomponents

About $20.00 per About $20.00 per motormotor

$100.00$100.00

Software developmentSoftware development $0.00$0.00 $0.00$0.00

Aluminum Aluminum 2 Bars2 Bars $50.00$50.00 $100.00$100.00

Machine shop costsMachine shop costs 100 hours100 hours $0.00/hr$0.00/hr $0.00$0.00




MemberMember EstimatedEstimated ActualActual

Yan-Chak CheungYan-Chak Cheung 104104 8484

Chris TrampelChris Trampel 6363 5656

Muhammed RahimMuhammed Rahim 5555 43.543.5

Thi-Ha SoeThi-Ha Soe 5555 5656

Mike NguyenMike Nguyen 7676 5656

Matt BairdMatt Baird 7474 68.568.5

Tony GartnerTony Gartner 7070 4848

Chad HarbourChad Harbour 8585 4848

TotalTotal 582582 456456



Learned how to use the Eagle layout program

Learned how to debug a circuit when it has problems

Order parts early Find backup vendor when ordering parts Request sample parts or donation


SummarySummary

Low cost designLow cost design Control circuit layout is doneControl circuit layout is done Most of the parts of the arm are fabricatedMost of the parts of the arm are fabricated Gripper can be controlled by OSCAR’s Gripper can be controlled by OSCAR’s

central computercentral computer


DemonstrationDemonstration

Gripper Control SoftwareGripper Control Software


SensorsSensors


MembersMembers

Waqar Habib (EE –2Waqar Habib (EE –2ndnd) Sub-Team Leader) Sub-Team Leader John Stacy (CprE –1John Stacy (CprE –1stst)) Sze-Yiing Tan (CprE – 1Sze-Yiing Tan (CprE – 1stst))



Image processing – complete the ground work for Image processing – complete the ground work for adding computer vision sensoradding computer vision sensor

Compass – Improve the accuracyCompass – Improve the accuracy Sonar Array – Repair faulty sonar sensors and Sonar Array – Repair faulty sonar sensors and

have all workinghave all working



Accurate, convenient and reliable sensingAccurate, convenient and reliable sensing Modular design Modular design Future expandabilityFuture expandability Software interface through serial Com PortSoftware interface through serial Com Port Collect information for software sub-teamCollect information for software sub-team



Modular designModular design Temperature and direction sensing abilityTemperature and direction sensing ability Computer imaging abilityComputer imaging ability Eight individual distance measuring sensorsEight individual distance measuring sensors Simple computer interface through Serial Com Port Simple computer interface through Serial Com Port



AssumptionsAssumptions– One sensor works at a time with the existing set of One sensor works at a time with the existing set of

sensorssensors– With the additional video sensor, OSCAR can process With the additional video sensor, OSCAR can process

the images from camera and data from other sensors at the images from camera and data from other sensors at the same timethe same time

LimitationsLimitations– Students do not have the proper background for the Students do not have the proper background for the

image processing image processing – Steep Learning CurveSteep Learning Curve– System is highly unstable and stops working very oftenSystem is highly unstable and stops working very often– Limited space for the sensor systemLimited space for the sensor system



Part DamagesPart Damages

- - Weekly system check upWeekly system check up

Unfamiliarity with Image ProcessingUnfamiliarity with Image Processing – Extensive researchExtensive research– Faculty assistanceFaculty assistance


Computer ImagingComputer Imaging– Two different, but overlapping areasTwo different, but overlapping areas

• Computer VisionComputer Vision• Image ProcessingImage Processing




Computer VisionComputer Vision– Images are acquired and examined by the computerImages are acquired and examined by the computer– Computer makes the intelligent decisionsComputer makes the intelligent decisions



Image Processing stepsImage Processing steps

Input ImageInput ImageInput ImageInput Image PreprocessingPreprocessingPreprocessingPreprocessing

Data ReductionData ReductionData ReductionData Reduction Feature AnalysisFeature AnalysisFeature AnalysisFeature Analysis


Technical Approach

CPUCPUCPUCPU

Computer imaging SystemComputer imaging System

CameraCameraCameraCamera

Frame grabberFrame grabberFrame grabberFrame grabber

End EffectorsEnd EffectorsEnd EffectorsEnd Effectors Motion ControlMotion ControlMotion ControlMotion Control

Image Processing Image Processing Image Processing Image Processing



Hindrances in the research workHindrances in the research work Significant amount of ground work has been done for the Significant amount of ground work has been done for the

computer imaging.computer imaging. Failed compass designFailed compass design Sensor system has still got some problems in Sensor system has still got some problems in

communicating with the computer.communicating with the computer.



Research and purchase of imaging equipmentResearch and purchase of imaging equipment Physical circuit design for the computer imaging sensorPhysical circuit design for the computer imaging sensor Perform regular system check Perform regular system check New Compass design New Compass design



No hardware or equipment was purchased No hardware or equipment was purchased this semester this semester






Learned aspects of video imaging through Learned aspects of video imaging through researchresearch

Regular system testing Regular system testing Demonstrations with large groupsDemonstrations with large groups



MemberMember EstimatedEstimated RevisedRevised ActualActual

Waqar HabibWaqar Habib 7979 7979 7272

John StacyJohn Stacy 5252 5252 5050

Tan Sze YiingTan Sze Yiing 5151 5151 5050

TotalsTotals 182182 182182 172172


SummarySummary

Reliable and consistent sensory systemReliable and consistent sensory system– Provide enough data to make autonomous and Provide enough data to make autonomous and

educationed decisionseducationed decisions Variety of different sensing capabilities to Variety of different sensing capabilities to

operate safely and successfullyoperate safely and successfully– Image processing sensorImage processing sensor– 8 sonar sensors8 sonar sensors– Temperature sensorTemperature sensor– Navigational compassNavigational compass

Ready for future sensing capabilityReady for future sensing capability


DemoDemo

Edge DetectionEdge Detection– A large change in image brightness over a short spatial A large change in image brightness over a short spatial

distance indicates the presence of an edgedistance indicates the presence of an edge

Online Demo1


SoftwareSoftware


MembersMembers

Sastra Winarta (CprE –2Sastra Winarta (CprE –2ndnd) Sub-Team Leader) Sub-Team Leader Tom Allen (CprE –1Tom Allen (CprE –1stst)) Julianto Leonardo (CprE – 1Julianto Leonardo (CprE – 1stst) ) Joseph Lahart (CprE – 1Joseph Lahart (CprE – 1stst))



Create powerful software solutionsCreate powerful software solutions– Full control of OSCARFull control of OSCAR– Interact with other subsystemsInteract with other subsystems

Control of gripper and arm is requiredControl of gripper and arm is required Integration of sensor and motion is requiredIntegration of sensor and motion is required Finalize voice controlFinalize voice control Develop demonstrationsDevelop demonstrations



Create sensor APICreate sensor API Develop end-effector driversDevelop end-effector drivers Improve voice controlImprove voice control Improve motion control softwareImprove motion control software Create demonstrations showing new abilitiesCreate demonstrations showing new abilities Document all system softwareDocument all system software



Control of OSCAR through voice commandsControl of OSCAR through voice commands Control of OSCAR’s gripper and armControl of OSCAR’s gripper and arm Increase functionality of OSCAR’s motion Increase functionality of OSCAR’s motion

controlcontrol Able to obtain and process sensor Able to obtain and process sensor

informationinformation The system software will be fully The system software will be fully

documenteddocumented



Assumptions:Assumptions:– The motion control,sensor and end-effector The motion control,sensor and end-effector

interfaces are not changinginterfaces are not changing– The sound card on OSCAR will be operationalThe sound card on OSCAR will be operational– Windows 98 will provide the necessary hardware Windows 98 will provide the necessary hardware

supportsupport

Limitations:Limitations:– Voice control accuracy depends on ambient Voice control accuracy depends on ambient

noise levelsnoise levels– Previous code in JavaPrevious code in Java



Team members do not have Java Team members do not have Java programming experienceprogramming experience

Hardware may break downHardware may break down Existing software is not be properly Existing software is not be properly

documenteddocumented



End-effector driver design based on motion End-effector driver design based on motion control designcontrol design

Communication with sensors will take place Communication with sensors will take place over a serial port connectionover a serial port connection

Use of sensors subsystem pre-existing Use of sensors subsystem pre-existing communication protocolcommunication protocol

Voice control will be improved and integrated Voice control will be improved and integrated with OSCAR’s capabilitieswith OSCAR’s capabilities



Input FlowchartInput Flowchart

Voice CommandVoice CommandVoice CommandVoice Command

Voice Voice RecognitionRecognition

Voice Voice RecognitionRecognition

Onboard Computer - JavaOnboard Computer - JavaOnboard Computer - JavaOnboard Computer - Java

Low Level DriverLow Level DriverLow Level DriverLow Level Driver

SensorSensorSensorSensor Keyboard and Keyboard and MouseMouse

Keyboard and Keyboard and MouseMouse

BASICXBASICXBASICXBASICX



All code located and partially documentedAll code located and partially documented Sensor interface developedSensor interface developed Voice control improved by integration with Voice control improved by integration with

OSCAR’s other systemsOSCAR’s other systems Motion control software and GUI functionality Motion control software and GUI functionality

improvedimproved Gripper software control workingGripper software control working



Implement CVS Implement CVS Generate API documentation using JavadocGenerate API documentation using Javadoc Complete arm control codeComplete arm control code Improve voice control to use OSCAR’s new Improve voice control to use OSCAR’s new

capabilities capabilities Develop new demonstrationsDevelop new demonstrations Upgrade OS and softwareUpgrade OS and software

– Windows OS or LinuxWindows OS or Linux– Java SDKJava SDK– IBM ViaVoiceIBM ViaVoice



Description Quantity Unit Price Total

Poster Dues 4 $3.00 $12.00

CPU 1 $0.00 $0.00

Motherboard 1 $87.00 $87.00

Heat Sink and Fan 1 $8.00 $8.00

SDRAM 2 $60 $120

Total $227.00




Sastra WinartaSastra Winarta 7070 8181

Tom AllenTom Allen 7070 5959

Julianto LeonardoJulianto Leonardo 6565 5555

Joseph LahartJoseph Lahart 7070 4848

TotalsTotals 275275 243243



Java programming languageJava programming language IBM ViaVoice technologyIBM ViaVoice technology Serial port communication using JavaSerial port communication using Java I/O card control using JavaI/O card control using Java


SummarySummary

Various ways to control OSCAR’s Various ways to control OSCAR’s movementsmovements

Control of OSCAR’s gripperControl of OSCAR’s gripper Control of OSCAR’s sensorsControl of OSCAR’s sensors OSCAR interacts with users in OSCAR interacts with users in

demonstrationdemonstration


DemonstrationsDemonstrations

Motion Control’s GUIMotion Control’s GUI Voice ControlVoice Control Gripper’s ControlGripper’s Control SensorsSensors


PowerPower


MembersMembers

Kris Kunze (EE –2Kris Kunze (EE –2ndnd) Sub-Team Leader) Sub-Team Leader Todd Carlson (EE –1Todd Carlson (EE –1stst))



Power Supply to ComputerPower Supply to Computer– DC/AC inverterDC/AC inverter – Standard PC power supplyStandard PC power supply

Conserve power Conserve power ffor or SSensensor, and End Effector or, and End Effector teamsteams



Build/test/install a new PC power supplyBuild/test/install a new PC power supply Remove DC/AC inverterRemove DC/AC inverter System ProtectionSystem Protection



DC/DC converterDC/DC converter– Losses aboard the robot will be minimizedLosses aboard the robot will be minimized

Fault preventionFault prevention Maintain current electrical systemMaintain current electrical system



Assumptions:Assumptions: Batteries will be properly chargedBatteries will be properly charged

Limitations:Limitations: Batteries can only be run down to 50%Batteries can only be run down to 50% Initial power system design not availableInitial power system design not available Limited budgetLimited budget No experience building a Printed Circuit BoardNo experience building a Printed Circuit Board



Short circuitShort circuit– Components of other sub-teamComponents of other sub-team – Protecting each sub-system individuallyProtecting each sub-system individually – Soldering PCBSoldering PCB

Part orderingPart ordering– Ordered parts early in semesterOrdered parts early in semester

Will design work?Will design work?



Save moneySave money Assure quality and reliabilityAssure quality and reliability Remove Remove DC/AC inverterDC/AC inverter



Receive correct parts– In April we received the last of the parts needed In April we received the last of the parts needed

to complete the power suppliesto complete the power supplies Build/Test/Install Power Supplies

– Power Supplies are Built– Tested for voltage stability– Are installed and working

System Protection– Wires were reroutedWires were rerouted– Power cables were run through plastic conduitPower cables were run through plastic conduit– Battery post protectors were addedBattery post protectors were added



Build and install permanent supply for Build and install permanent supply for sensorssensors

Explore methods to connect batteries that do Explore methods to connect batteries that do not contribute to battery drainagenot contribute to battery drainage

Wiring diagram for baseWiring diagram for base





Wires, Bridges, and Wires, Bridges, and FusesFuses

11 $10.00$10.00 $10.00$10.00

Power Supply PartsPower Supply Parts $40.00$40.00





Kris KunzeKris Kunze 7575 7171

Todd CarlsonTodd Carlson 6060 5858

TotalsTotals 135135 126126



Soldering Printed Circuit BoardsSoldering Printed Circuit Boards Circuit protectionCircuit protection

– upgrading the wiring system upgrading the wiring system Ordering and receiving partsOrdering and receiving parts

– Some parts were lost after they arrived at the Some parts were lost after they arrived at the department.department.

– Wrong parts were ordered last semesterWrong parts were ordered last semester


SummarySummary System protection for OSCARSystem protection for OSCAR Power Supplies WorkPower Supplies Work Power saved ≈ 15%Power saved ≈ 15%

Voltage 3.3V 5V 12V -12V -5V

No-Load Test 3.29V 4.97V 12.10V -11.69V -5.01V

Voltage 3.3V 5V 12V -12V -5V

Load Test 3.27V 4.89V 12.02V -12.15V -4.97V

Motherboard Monitor 3.369V 4.792V 11.813V n/a n/a


Project SummaryProject Summary

AccomplishmentsAccomplishments– New motion control circuit designed and testedNew motion control circuit designed and tested– High-end onboard computerHigh-end onboard computer– Speech recognition demonstrated successfullySpeech recognition demonstrated successfully– End-effector and sensor software interface End-effector and sensor software interface

createdcreated– Improved power distribution wiringImproved power distribution wiring– Significant documentation work completedSignificant documentation work completed– New power supply for onboard computerNew power supply for onboard computer


Project SummaryProject Summary

SetbacksSetbacks– Fabrication of arm not completedFabrication of arm not completed– Motion control circuit not installed on OSCARMotion control circuit not installed on OSCAR– Sonar array operates sporadicallySonar array operates sporadically


QuestionsQuestions

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© 2001 by default!slide 1 project cybot/oscar ongo01 may 30, 2002

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