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Ongo-01Project OSCAR
Project Oscar
Fall 2004
Zachary Kotlarek CprE 492David Hawley CprE 492Michael Larson EE 492Justin Rasmussen CprE
492Gavin Ripley CprE 492Peter Rufino EE 492Jason Sytsma EE 492
Kevin Cantu EE 491Phil Derr EE 491Jawad Haider EE 491Jeff Parent CprE 491
Client Department of Electrical and Computer Engineering
Presentation Date January 27, 2005
Faculty Advisor Ralph Patterson III
Team Members
Initial Information Huy
Project Introduction William, John
Description of Activities Everyone
Resources and Schedules David, Gus
Summary Dung
Project Oscar
Presentation Overview
OSCAR Octagonal Speech-Controlled Autonomous Robot CVS Concurrent versions system Cybot The predecessor to OSCAR drive train The assembly of electrically controlled motion
elements, including the robot’s wheels, gears, belts, and tachometers
End effector The assembly of electrically controlled mechanical arm and gripper
Ethernet A computer network communication protocol GUI Graphical user interface Linear bearing A rolling element that moves on a straight
track SONAR Sound navigation and ranging Tachometer A device for indicating speed of rotation
Project Oscar
List of Definitions
Project IntroductionWilliam, John
General Problem Statement
To capture the interests of visitors and potential students, the department needs an exciting demonstration of the technological capabilities of its students.
Last Semester’s Needs New power system Improve drive train Navigation using SONAR New robotic end effector
General Solution Approach Recreate entire power delivery system Understand and improve existing software base Design a more suitable end effector Develop intelligent coordination of SONAR and drive motion
Project Introduction
Problem Statement
Project Introduction
Operating Environment
Indoors (Outdoors with ideal weather) Temperature between 32oF – 100oF Flat surfaces If obstacles are present, they must be at least 2.5 feet high
to be detected
Project Introduction
Intended Users and Uses
Users Project OSCAR team members Trained demonstrators Supervised non-technical users
UsesDemonstrate to campus visitors Communicate with operators and audience Autonomous navigation throughout a room or corridor Pick up and place objects Respond to spoken commands
Project Introduction
Assumptions and LimitationsAssumptions Operators speak English Demonstrations last under an hour Technical supervisors present during operation
Limitations Software must run in Mandrake Linux SONAR range is 0.5 – 35 feet Wireless Ethernet within 328 feet Must fit through a standard 30-inch doorway Power supply must be rechargeable End effector must fit within top module
Project Introduction
End Product Full drive motion capability
Interaction with users via speech recognition software
GUI-driven software package Wireless connection Manual motion control Speech output Room/corridor
navigation Script recording and
playback
Externally rechargeable power supply
Project Introduction
Other Deliverables End-user operation instructions
Power system and recharging instructions Software user’s guide
Power system specifications and schematic
SONAR array specifications and schematics
Description of ActivitiesEveryone
Command-line speech output
New motor control for drive motion
End effector assembly was made lighter
Project website was redesigned
Partial description of navigation algorithm
Description of Activities
Previous Accomplishments
Rebuild power delivery system Reroute wiring Install interface panels Consider power inversion and conversion methods Purchase and install new battery Create schematics and user’s manual
Improve software architecture Document existing software Develop wireless control interface Test and document new software Developed a GUI
Description of Activities
Present Accomplishments
Create reference base for SONAR array
Build façade for chassis
Improve drive train Fix belt slipping Design tachometer circuitry
Redesign end effector (robotic arm) Design control system
Establish documentation standard
Description of Activities
Present Accomplishments
Description of Activities
General ApproachResearch
(Re)Design
(Re)ImplementResults Okay?Test
Document
No
Yes
Was it prefabricated?
No
Yes
PerformanceCostTime
Select
Description of Activities
Project DefinitionTotal Weight
Points:39 Urgency
Scaling Factor:
28% Highest High Medium Low Lowest
Software Highest Develop control
infrastructure
High
Develop SONAR array
testing software
Develop GUI for control and
sensor structures
Effort Medium Develop remote
interface
Develop scripts and macros for
demonstrations
Test newly-developed software
Low Document existing
softwareDocument new
software
Lowest
Priority Weight (larger = greater priority) 9 8 7 6 5 4 3 2 1
Description of Activities
Project DefinitionTask System priority Project priority
Characterize sonar array through testing 23% 6%
Develop navigation algorithms for sensor array 21% 6%
Write SOPs for sonar testing 15% 4%
Create sonar array reference materials 13% 4%
Document sonar testing from S04 8% 1%
Research imaging and image processing options 8% 2%
Test newly developed software 10% 3%
Develop SONAR array testing software 21% 6%
Develop control infrastructure 21% 6%
Develop remote interface 15% 4%
Develop GUI for control and sensor structures 15% 4%
Develop scripts and macros for demonstrations 13% 4%
Document existing software 10% 3%
Document new software 8% 2%
Reroute wiring, install panels and external connections 9% 3%
Design controllers for end effector motors 11% 3%
Create wiring documentation 9% 3%
Test new end effector assembly 5% 2%
Design suspension system for drive train 7% 1%
TOTAL 100%
Yellow = percentage value forced for conformity to 100% total requirement
* List has been truncated to fit in this space
Description of Activities
Project Definition
Tasks grouped under milestones to assign overall priority
# Milestone Priority (%)
1 Drive motion 29
2 Speech Output 2
3 External Façade 1
4 End Effector 16
5 Navigation 38
6 Suspension 1
7 Research 1
8 Demonstration / Presentation 3
9 Project Reporting 9
Description of Activities
ResearchPower conversionCurrent power inverter (DC/AC) is not rated to supply
necessary power to computer.
Many alternative products considered. DC ATX power supply is too expensive. DC/DC converter cannot supply computer’s
demand. New DC/AC inverter is the best solution.
Purchase of new inverter delayed until this semester.
Description of Activities
Researcht = 0
Channel A
Channel Bforward
Channel Bbackward
Rotation
forwardbackward
Input voltage
+ 5.0 V
+ 2.5 V
Description of Activities
Research
Optical Encoder
Motor Controller
Computer Serial
???
Available solutionsIntegrated motion control package (LM62xN, HCTL-20xx)• EXPENSIVE
Computer-based control (Java or LabVIEW)• Have to create software algorithm (takes time)• Pentium II with Linux
Create own circuit• Speed: Frequency-to-voltage converter• Direction: Phase decoder
Description of Activities
Design
F2V
Op. Enc.
ChB MUX
DC Bias
Direction
To Motor Controller
Phase Decoder
ChA
Tachometer Interface
Description of Activities
DesignTachometer Interface
Phase DecoderLS7184 – LSI Computer Systems• Frequency of CLOCK is proportional to frequency of
inputs• UP/DN is constant value
Description of Activities
DesignTachometer Interface
2:1 Analog Multiplexer switch
AD8170AN – Analog Devices
SELECT chooses between IN0 and IN1, sends it to Vout
Description of Activities
DesignTachometer Interface
Frequency–to–Voltage conversion
LM2907N-8 – National Semiconductor
Input pulse train
CresCsmoothRsmooth
Smoothing Filter
Adjustable Gain Control
Vcc
Out to MUX
Description of Activities
DesignPower system
Power demand identified
Safety measures implemented
Schematic developed
Description of Activities
Design
•Previous code updated and extended
•Layers of abstraction added to the previous design
•Wireless adapter added
•Operating system upgraded to Mandrake v.10.1
•Network communication protocol designed
Software Architecture
Description of Activities
Design End effecter Previous design was unacceptable
Design ConstraintsSize Total Cost-Reuse old system components
Retractable ‘Buildable’ Design Features
Retracting/Pivoting ShoulderElbow JointWrist PivotLocking Wrist
Description of Activities
ImplementationPower system
Schematic followed Moving objects avoided Wires secured to chassis
Description of Activities
ImplementationPower system
End user accesses battery through interface panel
Battery charger modified
Description of Activities
Implementation Drivetrain Modification
Existing Drivetrain exhibited wheel ‘slop’ and belt rubbing
Cause was found to be poor bushing system
Loose bearing allowed wheel to slide and translate
Solution: a press fit polymer bearing to eliminate all unwanted motion
Description of Activities
Implementation
A simple and cost-effective look for OSCAR Cam Lock system prevents theft and damage of OSCAR’s
internals
Façade and Lock System
Description of Activities
ImplementationGUI and wireless adapters
Functionality is divided into four main sections
• Movement Controls • Speech • Sensor display • Scripts
Description of Activities
Project Documentation Technical appendices added to standard project
documents Technical drawings Electrical specifications Technical methods used User’s Manual
CVS repository utilized
Filing cabinet reorganized Paper copies of all documentation filed
CD hard backup of files left with Dr. Patterson
Project tracking template
Description of Activities
Testing and ModificationSONAR testing Verify the operation of the model 6500 SONAR modules Measure the time required for the ECHO signal
Description of Activities
Future Required Activities
Task Student Type Semester
Implement tachometer unit circuit boards EE Spring 2005
Implement end effector assembly ME Spring 2005
Design control circuits for end effector motors EE Spring 2005
Fix SONAR array EE/CprE Spring 2005
Characterize SONAR array EE Spring 2005
Implement speech-recognition feature (HW and SW) CprE Spring 2005
Implement control circuits for end effector motors EE Fall 2005
Build top-level façade for end effector deck (any) Fall 2005
Implement control software for end effector CprE Fall 2005
Implement navigational software algorithm CprE Fall 2005
Current feature set to be fully implemented before developing new features
Remote and auto drive motion Remote and auto end effector Auto navigation and object avoidance Speech command input
Resources and SchedulesDavid, Gus
Resources and Schedules
Personnel Efforts
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rsTask resources Additional resources Additional
resource requirements
Visitor demonstrations
Project planning and tracking
Troubleshooting SONAR array
Resources and Schedules
Financial Requirement
Battery $135.96
Total Other $192.48
Façade materials $17.56
Deliverables$38.96
Labor $8,242.50
Donated Resources
Power system materials Various gauges of wire Wire ties and labels
Wireless Ethernet card (x2)
27GB hard drive
Resources and Schedules
Financial Requirement
Resources and Schedules
Project ScheduleAmbitious schedule Tasks collected into groups Milestones are group
deadlines First demonstration
Oct 19 Class presentation
Nov 18 Industrial review
Dec 7
SummaryDung
What went well Acquiring materials Software development Design of the end effector Demonstrations
What did not go well Unanticipated hardware flaws (SONAR array)
What technical knowledge was gained Operation of frequency-to-analog converters, digital-to-
analog converters, and BasicX microcontrollers Writing and rewriting sections of the code base Use of Microsoft Project, AutoCAD, SolidWorks
Summary
Lessons Learned
What non-technical knowledge was gained Proper documentation methods Effort coordination
What would be done differently if you could do it over again
Plan development time for sensor troubleshooting Accurately determine end product status before planning
project
Summary
Lessons Learned
Anticipated potential risks Ordered parts do not arrive on time
Solution: Allow extra time for delivery
Failure to complete assigned tasksSolution: Get help from other team members
Cost of development exceeds expectationSolution: Delay purchase or seek alternate solution
Failure to attend a meetingSolution: Take notes and inform absent members
Anticipated risks encountered Failure to complete assigned tasks Failure to attend a meeting
Summary
Risks and Risk Management
Unanticipated risks encountered Failure of the sensor system
Solution: Test all hardware to find defect
Wheel tachometers do not use expected interfaceSolution: Design an interface circuit for the optical encoders
Code interface could not send any commands to move the robotSolution: Restructure old software using new Java classes
Resultant change in risk managementReview documentation of past semesters to accurately anticipate risksassociated with existing implementation
Summary
Risks and Risk Management
Summary
Closing Summary
Bring project back on track with purpose and scope
Create useable paper trail for future team members
Substantial, lasting progress to be made in next year of project
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