problem/need statement system requirements system analysis functional decomposition concept...

Humanoid Robot Head: May 09-11

Dan PotratzCody Genkinger

Tim MeerJason Pollard

Andrew Taylor

Planning and System Design

Problem/Need Statement System Requirements System Analysis Functional Decomposition Concept Renderings Market Survey Risks

Problem/Need Statements

Problem – Currently there is a robotic frame with two mobile robotic arms, but a static shell for the head.

Need – The head needs to be capable of showing human-like facial emotions and movements.› Smile, frown, frustration, etc;› Tilt, roll, and pan the head.

System Requirements

The head shall look clean and nonthreatening, while retaining human-like attributes.

The head shall pitch, roll and yaw within a 90º, 90º, 90º arc of motion within a user specified duration.

Movement of the head shall be smooth and well transitioned.

The mouth and each eyebrow shall be handled by a single servo, with a 180º arc of motion within a user specified duration.

Motors shall be quiet and not distracting.

System Requirements

Microphones shall be used to listen for human speech and object interaction noise within three meters of the robot while distinguishing between ambient noise and human voice.

A camera shall be implemented within the head or body to provide/process visual feedback.

The microcontroller board shall be connected to a PC via serial or USB.

Servo wiring shall be twisted pair (to maintain low noise emission).

API shall be done within C/C++. Interface will be done in C#.

System Analysis

A single RS-232 Servo Controller will handle all pulse width control signals to all eight servos.

A power supply will have enough power for all servos and controller

Programming will provide user communication to controller.

Functional Decomposition

Concept Renderings

Provided by Alex Stoytchev

Concept Movie

Provided by Alex Stoytchev

Market Survey

There are a very limited amount of projects/products similar to ours.

MIT does have a comparable project that is focusing on environmental interaction, and is replete with eyebrows, eyes, mouth and neck.

Market Survey: Wall-E

Risks

Technical:› Servo controller/motor malfunction.› Difficulties integrating serial interface.

Financial:› Parts may exceed small budget.› Loss/denied funding for project/parts.

Risks

Schedule:› Shipping delays› Other course work delays project tasks

Customer Acceptance› Not pleased with result/design and

documentation› Solution might exceed budget

Detailed Design

Hardware specification Software specification User interface specification

Hardware Specification: Neck – Pitch, Pan & Tilt

Three servos 0-180º < 1 second Three degrees of

freedom Easily Fits inside

space provide on the chassis

Supports up to 4kg Price: $60.00

Hardware Specification: Neck – Servomotors

Control System: +Pulse Width Control 1500usec Neutral

Required Pulse: 3-5 Volt Peak to Peak Square Wave

Operating Voltage: 4.8-6.0 Volts Operating Temperature Range: -20 to +60

Degree C Operating Speed (4.8V): 0.24sec/60° at no

load Operating Speed (6.0V): 0.20sec/60° at no

load Stall Torque (4.8V): 106.93 oz/in. (7.7kg.cm) Stall Torque (6.0V): 133.31 oz/in. (9.6kg.cm) Operating Angle: 45° one side pulse traveling

400usec 360 Modifiable: Yes Direction: CW/Pulse Traveling 1500 to 1900usec Current Drain (4.8V): 8.8mA/idle and 350mA

no load Current Drain (6.0V): 9.1mA/idle and 450mA

no load Motor Type: 3 Pole Ferrite Potentiometer Drive: Indirect Drive Bearing Type: Dual Ball Bearing Gear Type: 3 Metal Gears and 1 Resin Metal

Gear Connector Wire Length: 11.81" (300mm) Dimensions: 40.6 x 19.8 x 37.8mm Weight: 1.94oz. (55.2g) Price: $40.00 each

Hardware Specification: Face – Servomotors

Control System: +Pulse Width Control 1520usec Neutral

Required Pulse: 3-5 Volt Peak to Peak Square Wave

Operating Voltage: 4.8-6.0 Volts Operating Temperature Range: -20 to

+60 Degree C Operating Speed (4.8V): 0.10sec/60° at

no loadOperating Speed (6.0V): 0.09sec/60° at no load

Stall Torque (4.8V): 20.8 oz/in. (1.5kg.cm)

Stall Torque (6.0V): 23.5 oz/in. (1.7kg.cm)

Operating Angle: 45° one side pulse traveling 400usec

360 Modifiable: No Direction: CCW/Pulse Traveling 1520-

1900usec Motor Type: 3 Pole Ferrite Potentiometer Drive: Indirect Drive Bearing Type: Top Ball Bearing Gear Type: All Nylon Gears Connector Wire Length: 12” Dimensions: 21.8 x 11 x 19.8mm Weight: .27oz. (7.8g) Price: $14.00 each

Hardware Specification: Head – Microcontroller

Max packet size: 59 bytes Max control rate: 15 instructions /

second 74% available bandwidth used worst

case 1 to 8 servos per board with 8-bit

resolution <1° of servo position precision

resolution Servo port can be reconfigured for

digital output to drive on/off devices.   Interface to PC through RS232 Serial

port (2400 to 19200 baud).  User definable board ID number

(allowing multiple boards to share same serial line). 

5-Ch, 8-bit A/D input port for reading 0 - 5 Volts. (Control servo positions via Joystick/Pot) 

Dimensions: 1.4 in X 1.7 in  Servo Connectors: 3 pin J-type

connectors.  Power supply: 7V-15V Price: $80.00

Hardware Specification: Head – Microphone

MIC Type: Gooseneck Element: Back electret

condenser Polar Pattern: Cardioid Impedance: 250Ω Frequency: 50 Hz to 18 kHz Sensitivity*: -65 dB +/- 3dB Max SPL @ 1% THD: >130 dB S/N Ratio: >65 dB Phantom Voltage Req: 9V – 52V

DC Connector: XLR Male Dimensions: 18-1/4" L x 3/4" Dia. Product Weight: 4 oz. Material: Cooper Finish: Non-glare black finish Price: $80.00

*(0dB=1V/BAR 1,000 Hz indicated by open circuit)

Hardware Specification: Head – Cameras

Sensor: CMOS VGA sensor technology

Resolution: Motion Video: 640 x 480 pixels video

Still Image: 1.3 megapixel (1280 x 960 pixels, interpolated) photos

Field of View: 55° diagonal field of view Automatic face trackingDigital pan, tilt, and zoomManual focus

Price: Already provided

Hardware Specification: Testing

Servos› Function Generator› Oscilloscope› Bench-Top DC Power Supply

Microcontroller Board› Oscilloscope› Computer with serial connection› HyperTerminal Communication Software› Bench-Top DC Power Supply

Power Supply/Voltage Divider› Bench-Top Multimeter› Bench-Top DC Power Supply

Hardware Specification: Testing

Frame (Eye Tray)› Completed frame and servo assembly› Working serial computer communication› Final testing stage

Frame (Aesthetic Plate Attachment)› Completed frame and servo assembly› Final testing stage

Neck Joints› Completed head with plates attached› Working serial computer communication

Hardware Specification: Prototyping

Theoretical:› Expression-Movement Mechanics

(SolidWorks)

Physical:› Expression-Movement Mechanics› Aesthetic plate connections

Mechanical CAD

Drawn with the assistance of Robert Peck

Mechanical CAD

Drawn with the assistance of Robert Peck

Electrical CAD

Software Specification: Overview

Software tools to allow for interaction with our robotic head› RS-232 Instructions

Broad library› Easy to develop scripts› Implementation

Written in C› Accommodate robotic arm code

Software Specification: Goals

Broad functions that allow for full movement control› Each servo is controlled and receives feedback

from microcontroller. Descriptive functions

› Anticipate future changes› Easy to read and use

Command hierarchy› Reduce redundant code› Stable functions› Easy to create new functions.

Software Specification: UML Diagram

Software Specification: Testing

Unit Testing:› Test each software component.› Ensure each component works to design.

Software System Testing:› Manual test using HyperTerminal› Ensure system works to design.

User Validation› Ensures design overall correctness.

User Interface Specification:

Overview User-directed scripting for robot animations.› Save and open scripts

Manually adjust individual facial and neck parts.

Easy-to-use tabs for different aspects Adjust hardware related options. Image provided to allow judgment of

ending animation (with preview button).

User Interface Specification:

Concept Rendering

User Interface Specification:

Concept Rendering

User Interface Specification:

Goals To create animations for head To create a clean, easy to understand

interface To create a stable interface with:

› Proper error reporting› Feedback for the user› Crash acknowledgement

Questions?