Karelino – A robot for STEM education

Mihai Agape

Palatul Copiilor Drobeta Turnu Severin

2nd Scientix Conference, Brussels, 24 – 26 October 2014T02 / Parallel Sessions I / School projects / Ballroom II / 25.10.2014 / 14:53

PROF. MARIANO GAGO

"AT SCHOOL WE ONLY LEARNT WORDS - NOT REAL THINGS"

The Purpose of the PresentationOverview the KAREL projectDescribe some work done

SpecificationsKarelino prototypeSolving math problemsLesson plansKarel second design

This project has been funded with support from the European Commission.

This communication reflects the views only of the author, and the Commission cannot be held responsible for any use which may be made of the information contained therein.

KAREL PROJECT OVERVIEW

General Information

Karel Project in Numbers

Partners

Objectives

Results & Outcomes

Robot Requirements

Tasts Distribution

Work Breakdown Structure

General Information

Programme: LIFELONG LEARNING PROGRAMME

Sub-programme: COMENIUS Action type: PARTNERSHIPS Action: COMENIUS Multilateral school

partnerships LLP Link No: 2013-1-RO1-COM06-29664 1 Project title: Karel - Autonomous Robot for

Enhancing Learning Project acronym: KAREL Implementation: 01.08.2013 – 31.07.2015

Karel project in numbers

Countries: 4Partners: 4Teachers: 21Students: 50Mobilities: 96Robots: 20Lessons: 21

WHO?Partners, pupils, teachers

1. Platon Schools (Εκπαιδευτηρια Πλατων) (Katerini, Greece)

2. Beypazari Teknik Ve Endüstri Meslek Lisesi (Beypazari, Turkey)

3. Technikum nr 1 im. Stanisława Staszica w Zespole Szkoł Technicznych w Rybniku (Rybnik, Poland)

4. Palatul Copiilor(Drobeta Turnu Severin, Romania)

Pupils (aged from 14 to 19 years old) & Teachers

WHY?Objectives Improve teaching and learning of science and

technology using robotics as integrator O1. Apply practical math and scientific

concepts while learning to design, build, test and document KAREL.

O2. Create an interdisciplinary curriculum to use with KAREL robotic platform.

O3. Improve confidence and fluency in English and learn scientific and technical vocabulary in partners’ languages.

WHAT?Results & Outcomes Robotics Dictionary in English and each

partner’s language. Robotics Platforms designed and

manufactured (20). Curriculum with at least 21 lesson plans, in

English and each partner’s language . At least 2 lesson plans for each of following fields: physics, biology, programming, mechanics, electronics, and robotics.

HOW?Tasks Distribution Robotic platform design, manufacture, test

and document: a) Mechanical system

Turkey

b) Electronic system Poland (input / output devices) Romania (controller, motor drivers, power supply,

communication)

d) Software Greece (codes for lessons) Romania (codes for input / output devices)

HOW?Tasks Distribution Pupils:

Create robotics dictionary Research, design, build, test, and program

robotic platform Test curriculum

Teachers: Design curriculum Guide pupils

SOME OF THE WORK DONE

Specifications

Karelino - first controller prototype of Karel robot

Solving math problems

The second design of Karel platform

KAREL SPECIFICATIONS

Agreed at the first project meeting in Beypazari

Available at http://sdrv.ms/170NTak

Kick-off Project MeetingBeypazari, 10-16.11.2013

KarelMechanical Specifications

KarelElectrical Specifications

KarelInput Devices

KarelOutput Devices

Karel Curriculum

Karel Challenges

KarelOther Specifications

KARELINO - FIRST PROTOTYPE OF THE ROBOTIC PLATFORM

Schematic

3D Views

PCB manufacturing

Board Testing

Mechanics, Electronics, and Software Integration (Rybnik meeting)

First Karel prototype

Why Karelino?

Karel problems2 s LiPo battery managementMotor voltage regulator

SolutionSmall complexity prototype

Cristina – Karel team studentKarel & Arduino -> Karelino

Schema electrică

First prototype - Karelino3D Top View

First prototype - Karelino3D Bottom View

PCB manufacturing method & materials Method = Transfer Toner System Materials = Pulsar kit (PCB Fab-In-A-

Box) http://www.pcbfx.com/

Print the copper layer on paper using a laser printer (600 dpi)

Prepare the single sided board using a sandpaper

Clean the surface with a cloth

Use laminator to transfer the toner from paper to board

Remove the paper using water

The copper layer is transferred to the board

Use green foil (from Pulsar) to seal the toner

Easily remove the green foil

Toner before and after sealing

Etching the board using ammonium persulfate

The uncovered copper was removed (etched)

Remove the toner from the board using thinner

Drill the holes

Test the traces for continuity and short circuits

Use a soldering iron station to solder the components Hot Air Gun Soldering (Hot) Iron

First solder the jumper wires

Add the components and solder them (SMD first & THD last)

Karelino (TOP)

Karelino (BOTTOM)

3D Views vs Real Board

Karelino TestingDesign & Manufacturing Mistakes

Second Project Meeting,Rybnik, 06–13.04.2014

Integration & Testing(Rybnik meeting)

First Karel Prototype(Rybnik meeting)

Proposed Improvements(Rybnik meeting) Integrate new blocks (e.g. Motor voltage

regulator, UART connector, Battery management system)

Make changes to the initial design (e.g. replace USB micro B connector with an USB mini B connector)

Redesign the PCB (components places and traces) according to the chassis shape

Add LEDs to show the state of Bluetooth module

Useful Links

Drawings for manufacturing the Karelino controller http://1drv.ms/1jet3ci

Bill of materials for all designshttp://1drv.ms/1oAF8hr

MATH PROBLEMS

Climbing an inclined plan

Karel Base Designs

Animation created in Geogebra

Problems Solved

Climbing a 30 % inclined plan

A requirement which seems to be related just to the power of the motors.

Karel Base Designs

Animation created in Geogebra

Rybnik meetingMath Challenges

Theoretical problems related to geometrical constraints study Ground clearance Front overhang Rear overhang

We will use the work for some Math lesson plan

Karel Base Dimensions

Calculus of Rear Overhang

Calculus of Rear Overhang

Calculus of Departure Angle

Ramp AngleGround Clearance

Calculate Ground Clearance (h) with Wolfram|Alpha knowledge motor

Calculate Ground Clearance (h) with Geogebra

SOFTWARE FORKAREL PLATFORM

Programming Languages

C Atmel Studio IDE We created some modules (functions) for

Motors control Serial communication (USART, Bluetooth) Optical line sensors

Arduino Arduino Leonardo compatibility

Microcontroller - ATmega32U4

Use Karel with Arduino?

Karel Visual Software

A former student of mine, Claudia Tudosie, who is now student in the last year at Timisoara University, Computers Enginnering Faculty, chose for his final project a theme related to KAREL. She proposed to create a visual programming language (similar to Scratch) for Karel platform.

LESSON PLANS

Physics Lesson PlanFriction & Speed How the Karel robot will be integrated in the

lesson? Robots will travel along surfaces of different

materials (in order to show that the speed depends on the different surfaces)

What do we need to do? Drive the robot along pathways (straight or

curved) on different surfaces. Measure time, distance.

Materials

Materials with different coefficient of friction Karel robot Stopwatches Distance measuring tools Data sheets Microsoft Excel

Lesson Objectives

Students will: O1. Observe the influence of the road surface

to the speed of the robot. O2. Use relation d = v * t in order to calculate

v when d, and t are given. O3. Propose solutions for improvement of

friction between road and the tires of the robot.

Engagement

Students will predict how the surface of the road affects the speed of the robot.

Example of questions for students: What is the effect of the road type on the

vehicle speed? (bumpy / smooth, straight / curvy)

How can you determine the speed of a vehicle? (distance / time)

More friction means more or less speed?

Exploration

Students will measure the speed of the robot on different surfaces. They will record the data in the next table.

The students will understand how the road materials affect the time needed for the robot to travel a given distance.

Surface type (road) Distance Time

Explanation

Introduce the concept

Distance = Speed * Time

Elaboration

Students experiment with different surface materials and weather conditions. Students record the data in next table

Calculate the speed for each type of tested road

Surface type (road) Distance Time Weather

Evaluation

Students introduce the collected data in an Excel sheet and represent graphically the distance as a function of time for different road materials.

Students answer the next question: How the friction of the roads could be increased or decreased?

ROBOTICS DICTIONARY

Google DocsSpreadsheet Datasheet

Google DocsDocument

KAREL SECOND PROTOTYPE(WORK IN PROGRESS)

New Approach – Two Boards

Schematics

PCB’s Design

PCB’s Manufacturing

Karel second prototype approach 2 boards

Lower board Battery management system Motors

Upper board Controller Regulators I/O devices Motor regulators

Karel Battery Management System - Schematic

Board dimensions

PCB Design

Double Side PCB laminate Components

SMD THD

Software Target3001! - version limited at 400 pins /

pads

Lower board3D bottom view

Lower board3D top view

Lower boardDesign problem

Upper board3D bottom view

Upper board3D top view

Improve Boards Manufacturing Process Older printer (Samsung) – 600 dpi resolution New printer (HP) - 1200 dpi resolution

Very good results after some tests Problems – printer driver for Windows 7

Printing problems

MS Word (doc) Different results

Picture (png) Scaling problems

Good results with pdf files

After we’ve learned how to do it (printing)

After we’ve learned how to do it (printing)

Alignment of TOP & BOTTOM Layers

Toner Transfer problems

Toner Transfer problems

After we’ve learned how to transfer the toner

After we’ve learned how to transfer the toner

Seal the toner

Seal the toner

Quite good alignment between top and bottom

Final upper board with min 0.6 mm tracks (top)

Final upper board withmin 0.3 mm tracks (bottom)

Karel Second PrototypeProblems & Future Work Some circuits (e.g. for battery

management) not tested yet Some integrated circuits are not so easy

to procure (e.g. the ones made by Seiko) Possible new changes in design using

new integrated circuits (e.g. boost regulator supplied from 1 Li-Po battery with high output current capabilities)

Third Karel Project MeetingKaterini, 12 – 19.10.2014

KateriniRobotic Platform Test

Invitation

International Robotics Trophy

ROBOTOR

SCRatch International Programming TrialSCRIPT

Contact

mihai_agape@yahoo.com

Bibliography

Agape, Mihai. Agape, Maria-Genoveva. “KAREL Specifications”, agreed in Karel Project Meeting, held at Beypazari on 10–16.11.2013. http://sdrv.ms/170NTak

Agape, Mihai. “Karelino—One Step in Karel Robotic Platform Developing”, presentation given at National Symposium IPO-TECH, Tirgu-Neamt, 29.03.2014

Bibliography (cont.)

Agape, Mihai. “KARELController Design”, presentation delivered at Karel project meeting, held at Rybnik, 06-13.04.2014.

Agape, Cristina-Maria. “KAREL – Controller Manufacturing”, presentation delivered at Karel project meeting, held at Rybnik, 06-13.04.2014.

Bibliography (cont.)

Agape, Mihai. “KAREL – First Implementation Year”, presentation delivered at the Robotic Symposium – Code Week event, held at Katerini on 14th October 2014.

Agape, Maria-Genoveva. “Physics Lesson Plan – Friction & Speed”, presentation delivered at the Karel project meeting held at Katerini, 12 – 19.10.2014.

Bibliography (cont.)

Agape, Mihai. “KAREL – 2nd Platform Design”, presentation delivered at the Karel project meeting, held at Katerini, 12 – 19.10.2014.

*** ATmega32U4, 7766G–AVR–02/2014. Atmel. http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-ATmega16U4-32U4_%20Datasheet.pdf

*** DRV8833, SLVSAR1C. Texas Instruments. http://www.ti.com/lit/gpn/drv8833.

*** LM2940, SNVS769I. Texas Instruments. http://www.ti.com/lit/gpn/lm2940-n.

Bibliography (cont.)

*** LM1117, SNOS412M. Texas Instruments. http://www.ti.com/lit/gpn/lm1117-n

*** Bluetooth Module BTM-112 and BTM-182. Rayson.

*** BQ241xx - Synchronous Switchmode, Li-Ion and Li-Polymer Charge Management IC with Integrated Power FETs (bqSWITCHER). Texas Instruments.

*** S8239 Series. Overcurrent Monitoring IC for Multi-Serial-Cell Pack. Seiko Instruments Inc.

*** S8209A Series. Usage Guidelines. Seiko Instruments Inc.

Questions?