Slide 1

Charell Codner, Rollan Buddy Haller, Hazel Madolid and My-Linh Truong Group 17 *Sponsored by UCF Center for Entrepreneurship & Innovation

Slide 2

Project Description Stereo systems are too hefty to haul around and MP3 players simply do not have the personality. The Musical Robot Companion (MRC) is a creative expansion on these developed technologies. As suggested by its name, the MRC has the capability of playing music while following the user around.

Slide 3

Key Design Objectives

Slide 4

Block Diagram

Slide 5

Slide 6

Goals of Voice-Control Subsystem High accuracy -> Voice control is a key feature in the MRCs design Adequate vocabulary size (9 command words + 1 passphrase) Speaker independence Continuous listening Easy to interface and program Cheap

Slide 7

Speech Recognition Chips VR Stamp RSC-4128 microprocessor Speaker Independent and Speaker Dependent capabilities Speaker Verification Continuous listening Allows sets up to 12 words maximum without build limits Low power requirements (2.70V 3.6V) Development tools Speech recording and playback Voice Direct RSC-356 microprocessor Continuous listening Speaker Dependent Recognizes 60 words/phrases in slave mode,15 in stand-alone mode 8 outputs Up to 99% accuracy achievable HM 2007 Chip Speaker Dependent Isolated Word recognition Recognized up to 40 user programmable words Accuracy greater than 95% Can be used in manual or CPU mode Easy interfacing with other circuits 5 V power supply

Slide 8

Training the HM2007 We will not be using the demo board that can be purchased from the manufacturer, instead we will be designing our own The user menu on the MRCs display will have an option to train the command words. The output from the display to the microcontroller will be relative to the selected word to train, and the microcontroller will output the corresponding bit pattern to the HM2007 chip Interfacing circuit design will be similar to that described in the manual Each command word will be trained to four separate memory locations

Slide 9

Communication Bit Patterns

Slide 10

Voice Command Recognition Algorithm

Slide 11

SPEAKERS

Slide 12

Speakers Speakers need to be loud enough to hear Have excellent frequency response Durable enough for movement and other activities Not overly large 3 Types: Subwoofer, Mid-range, and Tweeters

Slide 13

Speakers: Subwoofer Speaker Specifications of the LAT-250 Impedance44 Max Power Input100 W Frequency Range20-160 Hz Sound Pressure Level @ 1 W91 dB Wattage Designed For10 W Frequency Range Designed For20 Hz 160 Hz

Slide 14

Speakers: Midrange Speaker Specifications of the Eminence Alpha-6 Impedance44 Max Power Input100w Frequency Range150 Hz - 6 kHz Sound Pressure Level @ 1 W91 dB Wattage Designed For7.5 W Frequency Range Designed For160 Hz 6 kHz

Slide 15

Speakers: Tweeters Speaker Specifications of the SB25STC Impedance4 Max Power Input120 W Frequency Range3 kHz 22 kHz Sound Pressure Level @ 1 W91 dB Wattage Designed For7.5 W Frequency Range Designed For6 kHz 22 kHz

Slide 16

Amplification and Filtering A special topology was used, called the CGIC circuit. Allows for superior sensitivity to component values. Functionally tunable.

Slide 17

Amplification and Filtering Needed a GBP that was above 100 kHz. Also needed to be able to handle a large voltage swing. Ideally multiple op- amps on a single board. The LT1058CN was chosen. Specifications of the LT1058 GBP5 Mhz Max Voltage+/- 20V Max Output Current2.8 mA Number of Amplifiers4

Slide 18

Amplification and Filtering Final output stage required special powerful op-amp. Little amplification was used to allow for a lower GBP. The OPA541 was chosen. Final output power determined by MP3 and FM chips. Specifications of the OPA541 GBP1 Mhz Max Voltage+/- 60V Max Output Current5 A Number of Amplifiers1

Slide 19

Amplification and Filtering Needed to pick special cross-over points for speakers. Then needed to use the filtering circuit to create these cross over-points. In the end designed for 120 dB 6 th order filters.

Slide 20

MP3 DECODER

Slide 21

Mp3 Decoder Needed to be controlled by I2C. Needed to be able to read SD cards. Ideally as little programming as possible. Ability to output analog signals ideal.

Slide 22

FM RADIO CHIPSET

Slide 23

FM Radio Chip Radio is a standard in portable music player industry Adds functionality and marketability Original design included FM and AM radio Initial research showed most joint AM/FM radio chips broadcasted in mono based only Difficult to find joint AM/FM radio chip in stereo Decided to stream FM only to emphasize speakers dynamic range Optional: build AM radio input with external circuitry

Slide 24

SI Lab 336-1740-ND I 2 C interface control Output analog signals Internal DSP Tuning controlled digitally; ease of use Antenna range needs to be 87- 108 MHz based on US FM Radio standards

Slide 25

FM Radio Schematic

Slide 26

DISPLAY

Slide 27

Display Specifications SPI interface Large viewing screen Text and graphic display RGB to enhance viewing Display will be viewed in sunlight & ambient light Looked at LCDs and OLEDs LCD was more cost effective Readability Polarization Reflective Low power draw, no backlight, no SPI Transmissive high color contrast, best in ambient light; RGB & SPI readily available Transflective Combo of Reflective & Transmissive; ideal in both bright & low light

Slide 28

Color Graphic Display Specifications for Solomon SSD2119 CFAF320240F-T-TS Display TypeRGB graphics InterfaceSPI PolarizerTransmissive View Direction12:00 Backlight ColorWhite Input Voltage1.4V to 3.6 V Current Drain Per Pin25 mA

Slide 29

Monochrome Text Display Specifications for CFA632-YFB-KS Display TypeMonochrome InterfaceSPI PolarizerTransflective View Direction6:00 (rotate 180) Backlight ColorYellow-Green Supply Voltage4.75 V to 5.25 V Overall Current (100% backlight) 380 mA

Slide 30

Schematic for the Displays

Slide 31

Slide 32

Goals of Tracking Subsystem Actually the composition of two systems: user tracking and obstacle avoidance Detect and track the user in order to follow them Detect and avoid objects it encounters while in motion for autonomous movement Function well both indoors and outdoors Cost effective Small Low power

Slide 33

Sensors User Tracking: Combination of a user- carried IR beacon and phototransistors OED-EL-1L2 (LED) Peak wavelength is 940 nm Radiant intensity is 60 mW/SR Half angle is 30 degrees (60 degree beam angle) Lens finish is Water clear LTR-301 (Sensor) High sensitivity Peak wavelength 940 nm Viewing angle is 20 degrees Operating voltage is 5 V Lens color is clear transparent Obstacle Avoidance: Ultrasonic sensors URM V3.2 Ultrasonic Sensor Detection range of 4 cm 500 cm (5 m) Interface RS232 (TTL), PWN Lightweight (30 g) 5 V power 1 cm resolution Operating modes: Serial (PWM) passive control mode, Autonomous mode, On/Off mode

Slide 34

Transmitter Beacon Multiple LEDs and a lens will be used to help increase the beams radiant intensity Lens will also help to focus the light beam and counter some of the outside noise from other light sources. Pulsing the circuit has other benefits in addition to filtering; it increases the instantaneous intensity of the LED and may also help improve battery life.

Slide 35

Beacon Sensor Infrared sensors will collect readings on whether or not they can detect the beacon carried by the user The distance gap allowed between the MRC and the user in following mode may range from 2 feet to 7 feet so therefore the beacon should be able to transmit and be received at a distance of 9 feet (3 meters) Readings will be used to determined the users location relative the a virtual map

Slide 36

Sensor Placement (Virtual Map)

Slide 37

Obstacle Avoidance Subsystem Sensors will be used in autonomous mode The sensors will periodically take a reading and compare it with the pre-set threshold value. The threshold value will be set to 153 centimeters (2.54 cm = 1 in; 152.4 cm = 60 in) Readings that are taken will compared to the threshold value Reading is less than or equal to the threshold value The sensor will output that it has detected an object and the MRC should take necessary actions to avoid it. The goal is to detect objects and not have the MRC come within 61cm (about 2 feet) of the detected objects Objects within the threshold detection range but outside of the avoidance range will serve as a caution but not cause the MRC to stop. This data will be useful when decide whether or not the MRC can turn to try to maneuver around and object Object detection should be at least 180 degrees in front of the MRC

Slide 38

Sensor Placement Placement Design for the Ultrasonic Sensors

Slide 39

MICROCONTROLLERS

Slide 40

Microcontrollers Needed to be able to handle processes. Variety of I/O ports. Fast enough to handle display. Large memory ideal. PIC 18F87J10 chosen.

Slide 41

Microcontrollers Specs PIC 18F87J10 Specifications Operating Voltage3.3 V I/O Voltage0 V 5 V Clock Speed40 MHz A/D resolution 10 bits or 1024 divisions over input voltage range. Sample Rate of A/DAt worst 3333 samples/sec. Number of I/O ports66 Program Memory (Flash)128 kB Program RAM onboard3936 bytes External Memory BusYes Programming InterfaceICSP

Slide 42

Software: Master MC

Slide 43

Software: Display MC

Slide 44

Menus

Slide 45

POWER SUPPLY

Slide 46

Power Supply Needed to be able to supply 24v, 5v, and 3.3v. High power output for the speakers and motors. Be powered by a 12v battery for efficiency. Ideally, tolerant for voltage surge from motor start-up. Be efficient as possible. High Frequency switching for noise considerations. Battery needed to have high capacity, high power draw. Used Power Supply Workbench by National Semiconductor.

Slide 47

Power Supply: Battery Car Battery Specifications Voltage12 V Max Discharge RateOver 100 A Capacity~720 watt-hrs Min. Run Time4 hrs

Slide 48

Power Supply: 24v Specifications of 24 V Railings Input Voltage Min10.5 V Input Voltage Max15 V Output Voltage24 V Output Current Max (Steady)3.5 A Output Power Max (Steady)84 W Output Surge Current10.3 A Output Power Max (Surge)247 W Average Efficiency94.3%

Slide 49

Power Supply: 5v Specifications of 5 V Railing Input Voltage Min10.5 V Input Voltage Max15 V Output Voltage5 V Output Current Max (Steady)4 A Output Power Max (Steady)20 W Output Surge Current5.92 A Output Power Max (Surge)29.6W Average Efficiency93.4%

Slide 50

Power Supply: 3.3v Specifications of 3.3 V Railing Input Voltage Min10.5 V Input Voltage Max15 V Output Voltage3.3 V Output Current Max (Steady)4 A Output Power Max (Steady)13.2 W Output Surge Current10.7 A Output Power Max (Surge)35.3 W Average Efficiency94.4%

Slide 51

MOTORS/WHEELS

Slide 52

Motors/Wheels Needed to be able to propel the MRC. Easy to control. Preferably DC powered. Ideally be able to keep up with a human walking. Tank steering will be used.

Slide 53

Motors Motor Specifications Max Load250 lbs Power Input60 W Operating Voltage24 V Max Speed4 MPH

Slide 54

Wheels Rotation Rate = 131 RPM Torque = 33.33 ft * lbs Wheel diameter = 8 in

Slide 55

EXTERIOR

Slide 56

Exterior The MRC will have a wood frame. The MRC will have aluminum or another similarly easy to work with material. It will have two arms that swing out to allow for stereo channel seperation. Overall, similar in size to a wagon.

Slide 57

Slide 58

Hardware Testing Each system will have it own testing procedure. First, electrical connections and power on will be tested. Next, operation will be checked. Finally, functional tuning will be done. Functional Tuning Procedure Example Low-Pass Filters Input Part Adjusted Value Changed Measured Value Needed Measurement Sin( 0 t)R4R4 00 |H( 0 )|2 Sin( 0 t)R8R8 QpQp Phase of V in V out -90

Slide 59

Software Testing Modified Top-Down Approach Top level: The main microcontroller will be tested first Functionality of communication connections using the SPI and I 2 C data buses must be verified Middle level: The display microcontroller, MP3 decoder, and FM radio will be interfaced and tested (each done separately) The functionality of each component will be verified Bottom level: The voice chip, microphone, sensors, speakers, and display screens will be tested (each done separately) Voice Subsystem First it must be verified that it can receive training mode instructions Then the voice control algorithms can be tested after the chip has been trained Tracking Subsystem The responses generated by the input from signaling the IR sensors with the beacon will be analyzed separately from the responses generated by the input from signaling the ultrasonic sensors. Once both sensor algorithms have been tested and function correctly separately they will be tested again, working together. Finally all components will be connected and tested together

Slide 60

Slide 61

Sponsorship Sponsorship provided by the UCF Center for Entrepreneurship and Innovation (CEI) Awarded $2000 Must compete at the Innovation Competition, hosted by CEI, on March 26, 2010

Slide 62