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ME 224 Final ProjectME 224 Final Project
Final PresentationFinal Presentation12/08/0512/08/05
David MacedoniaDavid Macedonia
David StorchDavid Storch
Adam SameAdam Same
Norbert WroblewskiNorbert Wroblewski
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OverviewOverview
Background/MaterialsBackground/Materials ObjectivesObjectives ActuationActuation CalibrationCalibration Demonstrations of Control/WirelessDemonstrations of Control/Wireless Analysis/ConclusionAnalysis/Conclusion Final ThoughtsFinal Thoughts
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Background/MaterialsBackground/Materials
LabVIEW 7.1LabVIEW 7.1• Originally developed for the Apple Originally developed for the Apple
Macintosh in 1986. Macintosh in 1986. • Platform and development environment Platform and development environment
for a visual programming language.for a visual programming language.• used for data acquisition, instrument used for data acquisition, instrument
control, and industrial automation. control, and industrial automation. • Allows for multiple nodes to be working Allows for multiple nodes to be working
at once, therefore capable of parallel at once, therefore capable of parallel processing and execution.processing and execution.
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Background/MaterialsBackground/Materials
BASIC StampBASIC Stamp• Microcontroller with a small BASIC interpreter.Microcontroller with a small BASIC interpreter.• It operates at 20 kHz and can handle 4,000 It operates at 20 kHz and can handle 4,000
instructions per second.instructions per second.• BASIC Stamp projects we have found include BASIC Stamp projects we have found include
Door Entry Card Readers, Weather Stations, Door Entry Card Readers, Weather Stations, Electronic Compasses, The TI82 interface, Electronic Compasses, The TI82 interface, Water Volume Meters, and even Garage Door Water Volume Meters, and even Garage Door Openers Openers
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Background/MaterialsBackground/Materials
BluetoothBluetooth• Standard for wireless technology.Standard for wireless technology.• Developed by a group of electronics Developed by a group of electronics
manufacturers to enable their electronic manufacturers to enable their electronic equipment to make their own equipment to make their own connections without wires or user connections without wires or user commands.commands.
• Bluetooth can be applied many different Bluetooth can be applied many different electronic devices. electronic devices.
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MaterialsMaterials
Gyroscope sensor (ADXRS150EB) from Gyroscope sensor (ADXRS150EB) from Analog DevicesAnalog Devices
EmbeddedBlue eb500 Wireless ModuleEmbeddedBlue eb500 Wireless Module DBT-120 USB Bluetooth adaptorDBT-120 USB Bluetooth adaptor HyperterminalHyperterminal ADC ChipADC Chip
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Background/MaterialsBackground/Materials
Parallax Boe-BotParallax Boe-Bot • Popular Popular
programmable programmable robot.robot.
• Distinguishing Distinguishing feature is the Board feature is the Board of Education (BOE), of Education (BOE), which acts as the which acts as the robot’s controller robot’s controller board.board.
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ObjectiveObjective Design and implement an experiment to Design and implement an experiment to
realize the wireless control of a realize the wireless control of a commercially available robot.commercially available robot.
Enhance the knowledge of LabVIEW, Data Enhance the knowledge of LabVIEW, Data acquisition, Feedback control, and MEMS acquisition, Feedback control, and MEMS sensing.sensing.
Get an understanding of wireless Get an understanding of wireless communication using Bluetooth communication using Bluetooth technology.technology.
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MethodolgyMethodolgy
ActuationActuation• Assemble Boe-BotAssemble Boe-Bot• Center ServomotorsCenter Servomotors
SensingSensing• Calibrating GyroscopeCalibrating Gyroscope
ControlControl• LabVIEW and Basic Stamp programsLabVIEW and Basic Stamp programs
Wireless CommunicationWireless Communication• Bluetooth wirelessBluetooth wireless
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ActuationActuation Boe-Bot Assembly
Little assembly required
Servomotor Centering
• CenterServo Program
• PULSEOUT = 750 results in 1.5 ms pulse width and stops motors
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Calibration/SensingCalibration/Sensing
Gyroscope Calibration• BASIC Stamp program controlled rotation of Boe-Bot
•Pulse width varied between 650 and 850 with increments of 5•Pause between changes in pulse width •LabVIEW collected gyroscope voltage data
• Data Analysis with Microsoft Excel
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Calibration/SensingCalibration/SensingVoltage vs. Time
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
0 10 20 30 40 50 60 70 80
Time (s)
Gy
ro
sc
op
e O
utp
ut
Vo
lta
ge
(V
)
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Calibration/SensingCalibration/Sensing
Voltage vs. Angular Velocity
y = -0.6962x + 2.4705
R2 = 0.9993
0.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
-4.0 -3.0 -2.0 -1.0 0.0 1.0 2.0 3.0 4.0
Angular Velocity (rad/s)
Vo
ut
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Calibration/SensingCalibration/Sensing
Determine Optimal PULSEOUT CommandsDetermine Optimal PULSEOUT Commands• Experiment using calibration dataExperiment using calibration data• Fastest servo speeds are inefficientFastest servo speeds are inefficient
Pulse 12 Pulse 13 distance 1 distance 2 distance 3 average time (seconds) velocity (cm/sec)
650 850 54.10 54.20 54.80 54.37 3.00 18.12
675 825 53.00 53.60 53.00 53.20 3.00 17.73
700 800 49.30 49.50 49.90 49.57 3.00 16.52
725 772 30.00 30.00 29.70 29.90 3.00 9.97
750 750 0.00 0.00 0.00 0.00 3.00 0.00
772 725 28.70 28.70 28.80 28.73 3.00 9.58
800 695 49.60 49.70 49.20 49.50 3.00 16.50
825
850
670 52.00 52.00 52.40 52.13 3.00 17.38
650 52.60 52.90 52.90 52.80 3.00 17.60
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ControlControl
Dictate Robot Motion Dictate Robot Motion via LabVIEWvia LabVIEW• Automatically Automatically
computes pulses for computes pulses for angle and distance angle and distance commands commands
• Numbers then Numbers then transferred into Basic transferred into Basic StampStamp
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Routes to be FollowedRoutes to be Followed
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ControlControl
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ControlControl
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Wireless CommunicationWireless Communication
Establish Initial CommunicationEstablish Initial Communication• Install and initialize Bluetooth driversInstall and initialize Bluetooth drivers• Connect DBT-120 to eb500 card with Connect DBT-120 to eb500 card with
Windows HyperTerminalWindows HyperTerminal
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Wireless CommunicationWireless Communication
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Monkey See, Monkey DoMonkey See, Monkey Do
Main:Main: SERIN 0,84,[DEC1 CmdData]SERIN 0,84,[DEC1 CmdData] DEBUG DEC1 CmdDataDEBUG DEC1 CmdData BRANCH CmdData,[Hold, Move_Fwd, Turn_Left, Turn_Right, BRANCH CmdData,[Hold, Move_Fwd, Turn_Left, Turn_Right,
move_back]move_back] GOTO MainGOTO Main
Move_Fwd:Move_Fwd: PULSOUT LMotor,LFwdFastPULSOUT LMotor,LFwdFast PULSOUT RMotor,RFwdFastPULSOUT RMotor,RFwdFast SEROUT 1,84,["1"]SEROUT 1,84,["1"] GOTO MainGOTO Main
Turn_Left…Turn_Left…
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Wireless CommunicationWireless Communication
Control Robot’s motion with Control Robot’s motion with HyperTerminalHyperTerminal• 9-key BASIC Stamp program9-key BASIC Stamp program• Demonstration...Demonstration...
1 = Slow Left Turn4 = Medium Left Turn7 = Quick Left Turn8 = Forward9 = Quick Right Turn6 = Medium Right Turn3 = Slow Right Turn2 = Backward5 = Hold Position
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Wireless Control with HTWireless Control with HT
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LabVIEW and BASIC StampLabVIEW and BASIC Stamp
How do we use this: To control this?
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LabVIEW and BASIC StampLabVIEW and BASIC Stamp
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LabView and BASIC StampLabView and BASIC Stamp
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Final Analysis and ResultsFinal Analysis and Results
Accomplishments:Accomplishments:• Assembly, Actuation & Calibration of Assembly, Actuation & Calibration of
Boe-BotBoe-Bot• BASIC Stamp programming to move BASIC Stamp programming to move
along pre-determined pathsalong pre-determined paths• Integration of Bluetooth technologyIntegration of Bluetooth technology• Real-time control with HyperTerminalReal-time control with HyperTerminal• LabVIEW programming to control Boe-LabVIEW programming to control Boe-
Bot motion with BluetoothBot motion with Bluetooth
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Final Analysis and ResultsFinal Analysis and Results
ResultsResults• Calibration worked well, gave Calibration worked well, gave
understanding of BS2 programming and understanding of BS2 programming and importance of feedbackimportance of feedback
• HyperTerminal control works flawlesslyHyperTerminal control works flawlessly
• Room for improvement in LabVIEW Room for improvement in LabVIEW controlcontrol
• Unable to establish wireless feedbackUnable to establish wireless feedback
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Final ThoughtsFinal Thoughts
Learned about wireless Learned about wireless communication & robot controlcommunication & robot control
Introduced to BASIC Stamp, Introduced to BASIC Stamp, HyperTerminal, LabVIEW, BluetoothHyperTerminal, LabVIEW, Bluetooth
Satisfied with results, still room for Satisfied with results, still room for improvementimprovement
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Questions?Questions?