SNUT UNN MS&DE Program Professor : Kim Dong Hwan Student : Seo Sung Mok Lee Ok Nam Na Yoon Ho Park Su Min

2 UNN Capstone Design Joint Project with R.H.I.T team

Purpose : International communication for the same project Subject – R.H.I.T : 4legged robot with autonomous shooting ( Embedded system) – SNUT : 4legged robot with autonomous shooting (PC base system) Meeting – Formal : Video conference (Tue. or Fri. 9:00AM ) – Informal : Chatting using Skype (Any time) Visitation Schedule – SNUT will visit to US in July – R.H.I.T will visit to Korea in September Joint Project with R.H.I.T team 3 UNN Capstone Design

Contents Objective & Functions 1 Schematic Diagram 2 Feature & Mechanism 3 How to control 4 Plan 5 4 UNN Capstone Design

Research MAARS TM Robot Foster-Miller's latest innovation in robotics, MAARSTM (Modular Advanced Armed Robotic System) introduces a new modular design to its popular family of TALON® and SWORDS robots for military and first responders. MAARS uses the more powerful M240B medium machine gun and has significant improvements in command and control, situational awareness, maneuverability, mobility, lethality and safety compared to its SWORDS predecessor. [CBS NEWS] 5 UNN Capstone Design

Research BIGDOG Robot BigDog is one meter long, 0.7 meters tall, and weighs 75 kilograms, around the size of a small mule. It is currently capable of traversing difficult terrain at 5.3 kilometers per hour (3.3 mph), carry a 154 kilogram load (340 pounds), and climb a 35 degree incline. [1] Locomotion is controlled by an on board computer that receives input from the various sensors featured on the BigDog. Navigation and balance are also managed by the control system. [1] [CNN NEWS] 6 UNN Capstone Design

Objective & Functions 4 legged robot with autonomous shooting Velocity: 0.15m/sec Weight: 3.0kg Red balloon Laser & Gun Sensing Obstacle Control mode Autonomous mode Targeting & Gun Uneven Road Specification Functions Wireless Communication Control Blue Tooth 7 UNN Capstone Design

Schematic Diagram DSP Control Sensing Target Blue Tooth PC Base system Vision Process Shooting a gun 8 UNN Capstone Design

210 mm Feature (modeling) 120 mm 210 mm 9 UNN Capstone Design

Moving Mechanism 10 UNN Capstone Design

Moving Mechanism 11 UNN Capstone Design

Moving Mechanism 12 UNN Capstone Design

Moving Mechanism 13 UNN Capstone Design

Moving Mechanism 14 UNN Capstone Design

Moving Mechanism 15 UNN Capstone Design

Moving Mechanism 16 UNN Capstone Design

Feature (Weight) 12 Motors : 50g*12=600g 12 Motors : 50g*12=600g 2 Motors : 50g*2=100g 2 Motors : 50g*2=100g Battery : Less than 160g Battery : Less than 160g Camera : Generally 100~150g Camera : Generally 100~150g Toy gun with laser point : 350g Toy gun with laser point : 350g DSP board : 100g DSP board : 100g Aluminum 2T-5052 : Less than 1130g Aluminum 2T-5052 : Less than 1130g Other parts : 100g Other parts : 100g Total : 2640g = 2.64kg 17 UNN Capstone Design

Motor selection Three considerable factors : Angular velocity, Torque, and Cost SS-226 DC: 4.8~7.2V Velocity: 0.20s/60degree Torque: 26kg*cm Weight: 50g Size: 41*20*38mm Cost: 58000won 18 UNN Capstone Design

80mm Speed 80mm 57mm 0.16s / 60˚ = 0.12s / 45˚ Instantaneous velocity : 57mm/0.12s = 475mm/s = 0.475m/s 19 UNN Capstone Design Average velocity : 0.24 m/s 0.24m/s > 0.15m/s Its enough

Ankle motors will be induced by the maximum torque. Torque 150mm The torque induced on a ankle motor will be … 15cm x 2.6kg / 4 = 9.75kg*cm (when it is stopped) 15cm x 2.6kg / 2 = 19.5kg*cm (when it is moving) The torque of the ss-226 is 26kg*cm > 19.5kg*cm. 2.6Kg So, it is safe. 20 UNN Capstone Design

Motor control How to control? PC Sensor control Wireless device Main controller (DSP) CCD camera Wireless device PC MSRS Communication System 21 UNN Capstone Design

How to control? Image information Motion data command Construction of System 22 UNN Capstone Design

B Built in Flash memory & Ram A 16bit-Fixed Point CPU C ADC : 10bit, 16channel E Timer : 16 bit D PWM : 16pin Main Controller (DSP) TMS320LF2407A 23 UNN Capstone Design

PC Controller (MSRS) MSRS : Micro Soft Robotics Studio Why MSRS? – Service for Vision & Voice Process – Visual Program Language (VPL) – Simulation program – Free software 24 UNN Capstone Design

PC Controller (MSRS) C# programming Developing new codes using c#. Second stage Basic stage VPL Application Application by basic modules in MSRS. Final stage Simulation Simulation with a virtual robot or a real robot. 25 UNN Capstone Design

Plan 26 UNN Capstone Design Mechanical Part DSP & IC (Control) Part PC(MSRS) Part Finish until September

Plan DSP & IC Part WorkApr.May.Jun.Jul.Aug.Sep. Install programs & study manuals Buy basic components Study I/O & PWM DSP code Study motor control method Operate motors independently Connect DSP with IC board Connect all together and operate Link MSRS(PC part) with DSP Add new functions and modify Optimize continuously 27 UNN Capstone Design

Plan PC Part WorkApr.May.Jun.Jul.Aug.Sep. Install MSRS Program Seminar for REGO mindstorm Seminar for MSRS lectures Study MSRS program language Build robot protocol and Bluetooth Develop code for vision process Operate a camera with sensors Drive the robot and make controller Add new functions and modify Optimize continuously 28 UNN Capstone Design

Plan Mechanical Part WorkApr.May.Jun.Jul.Aug.Sep. Functions & Mechanism design Part design separately in detail Making prototypes and selection Select motors or components CAD modeling & Purchase parts Manufacture frames & Assembly Operate the robot and adjust Add new functions and modify Remanufacture or retouch Frames Complete and optimize 29 UNN Capstone Design

SNUT UNN MS&DE Program

Prototype

Moving mechanism Change of center of gravity 39 UNN Capstone Design

Moving mechanism Change of center of gravity 40 UNN Capstone Design

Moving mechanism Change of center of gravity 41 UNN Capstone Design

Moving mechanism Change of center of gravity 42 UNN Capstone Design

Moving mechanism Change of center of gravity 43 UNN Capstone Design

Moving mechanism Change of center of gravity 44 UNN Capstone Design