MCECS Guide Robot Project Project Update 5/23/2012.

Slides:



Advertisements
Similar presentations
Add and Use a Sensor & Autonomous For FIRST Robotics
Advertisements

1. 2 LabVIEW for FRC Doug Norman National Instruments January 6, 2012.
1. 2 Mobile Robot Navigation with Human Interface Device David Buckles Brian Walsh Advisor: Dr. Malinowski.
The Bioloid Robot Project Presenters: Michael Gouzenfeld Alexey Serafimov Supervisor: Ido Cohen Winter Department of Electrical Engineering.
A Pair of Guide Robots for MCECS Marek Perkowski.
Department of Electrical and Computer Engineering He Zhou Hui Zheng William Mai Xiang Guo Advisor: Professor Patrick Kelly ASLLENGE.
A.G.I.L.E Team Members: Brad Ramsey Derek Rodriguez Dane Wielgopolan Project Managers: Dr. Joel Schipper Dr. James Irwin Autonomously Guided Intelligent.
Wheelesley : A Robotic Wheelchair System: Indoor Navigation and User Interface Holly A. Yanco Woo Hyun Soo DESC Lab.
CSE Design Lab – Milestone 2 James Hopkins Dave Festa Dennis O’Flaherty Karl Schwirz.
October 21, 2003 ECE Senior Design1 Autonomous GPS-BOT Preliminary Design Review by Kery Hardwick, Yevgeniy Khasanov, Naoya Kinuta, Zhe Chuan Luo.
EDGE™ MAV Control System Project # P09122 Concept Design Progress.
New Human Computer Interfaces Amnon Dekel HUJI – CSE, Spring 2007 Class ? May
DO NOT FEED THE ROBOT. The Autonomous Interactive Multimedia Droid (GuideBot) Bradley University Department of Electrical and Computer Engineering EE-452.
Topics to discuss today Simple machines Compound machines Lever Linkage Wedge Mechanical Advantage Inclined plane Screw.
Chuang-Hue Moh Spring Embodied Intelligence: Final Project.
Introduction to Robotics Electronics and Robotics Club.
REAL ROBOTS. iCub It has a height of 100 cm, weighs 23 Kg, and is able to recognize and manipulate objects. Each hand has 9 DOF and can feel objects almost.
Sponsor –UROP –ZWORLD Corp. –W. M. Berg Corp. Advisor –Professor David J. Reinkensmeyer.
Michael McGrath IMDL Professors: Dr. A. Antonio Arroyo Dr. Eric M. Schwartz TA’s: Josh Weaver Tim Martin.
Autonomous Surface Navigation Platform Michael Baxter Angel Berrocal Brandon Groff.
HEATHKIT ROBOT Hero JR. Robot Introduced in the 1980’s as part of their electronic kit offerings “Semi-Autonomous” operations with battery 1 st generation.
HEAT SEEKER Eduardo Lichtenfels Riccio Oral Presentation IMDL – January 30,2014.
The Patrolling Android By: Reinaldo Molina University of Florida Department of Electrical and Computer Engineering IMDL – EEL 5666/4665 Date: 09/12/2013.
Swarm Robotics Indresh Yadav.
Robotic Arm and Dexterous Hand Critical Design Review February 18, 2005.
HARDWARE INTERFACE FOR A 3-DOF SURGICAL ROBOT ARM Ahmet Atasoy 1, Mehmed Ozkan 2, Duygun Erol Barkana 3 1 Institute of Biomedical Engineering, Bogazici.
Human Computer Interaction © 2014 Project Lead The Way, Inc.Computer Science and Software Engineering.
Multi-Vehicles Formation Control Exploring a Scalar Field Polytechnic University Department of Mechanical, Aerospace, and Manufacturing Engineering Polytechnic.
Phong Le (EE) Josh Haley (CPE) Brandon Reeves (EE) Jerard Jose (EE)
Juan David Rios IMDL FALL 2012 Dr. Eric M. Schwartz – A. Antonio Arroyo September 18/2012.
Team 6 DOODLE DRIVE Alexander Curtis Peachanok Lertkajornkitti | Jun Pan | Edward Kidarsa |
CHROMATIC TRAILBLAZER 25 th November, 2008 University of Florida, Department of Electrical & Computer Engineering, Intelligent Machine Design Lab (EEL.
Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.
ROBOGRAPHERS FACIAL EXPRESSION RECOGNITION USING SWARMS SPONSORED BY: DR. KATIA SYCARA TEAM :GAURI GANDHI SIDA WANG TIFFANY MAY JIMIT GANDHI ROHIT DASHRATHI.
Abstract The Infrarat is an autonomous toy car that will use proximity sensors and a pivoting array of Infrared sensors for tracking a body and to avoid.
Robot Basics Motion and Nomenclature. Robot Main Components Programming Terminal Controller Manipulator Manual Pendent.
National Instruments Autonomous Robotics Competition
Project OSCAR Octagonal Speech-Controlled Autonomous Robot ONGO-01.
HUMAN CONTROLLED DEVICE WITH MACHINE INTERVENTION FOR COLLISION AVOIDANCE Jake KarlCSE321 Zac BergquistFALL 2010.
DO NOT FEED THE ROBOT. The Autonomous Interactive Multimedia Droid (GuideBot) Bradley University Department of Electrical and Computer Engineering EE-452.
Project OSCAR Octagonal Speech-Controlled Autonomous Robot ONGO-01.
Mathew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan.
Smart Lens Robot William McCombie IMDL Spring 2007.
Software Narrative Autonomous Targeting Vehicle (ATV) Daniel Barrett Sebastian Hening Sandunmalee Abeyratne Anthony Myers.
Team01: Zelun Tie The design project Wall-E Prototype I is an intelligent automated trash collecting robot with obstacle detection capability. The robot.
Ali Alkuwari Patrick SwannJad FarahMarcus SchafferKorhan Demirkaya Long QuyDenden TekesteNgoc MaiSteven Weaver.
 Definition of Micro-Controllers  Comparison between types of Micro- Controllers  Pin Identification of ATMEGA32.
For Official NASA Use Only
Introduction to VEX® components
GuideCane Robotics-Based Obstacle-Avoidance System for the Blind and Visually Impaired Presented by Priya GS.
Pick N Place Robot. Pick N Place Robot Introduction:  Pick and Place robot is the one which is used to pick up an object and.
Electrical Engineer Responsibilities
Activity 4.2.8a Satellite Flight Satellite Robot Construction Guide
- Usable range of 0 to 6 feet. - Find dark or bright areas.
VEX IQ Curriculum Smart Machines Lesson 09 Lesson Materials:
ANTI-COLLISON AND BRAKING SYSTEM
Electrical Engineer Responsibilities
Robot Report “Emerson” Crawford Hampson EEL5666: IMDL April 8, 2010
Introductory Lecture About class Grading
‘SONAR’ using Arduino & ultrasonic distance sensor
Electrical Engineer Responsibilities
Electrical Engineer Responsibilities
Presented by Angel Nunez IDML Spring 2008 Dr. Arroyo Dr. Schwartz
ECE 477 Design Review Group 10  Spring 2005 I, Robotic Waitress
Smart Lens Robot William McCombie IMDL Spring 2007.
Activity 4.2.8a Satellite Flight Satellite Robot Construction Guide
ECE 477 Senior Design Group 3  Spring 2011
OUR project Summer 2009 PSU.
Presentation transcript:

MCECS Guide Robot Project Project Update 5/23/2012

Agenda Goal Progress Report – System Diagram – Base (Omar Mohsin, Ali Alnasser) – Body (David Gaskin) – Head/Neck (Stephen Huerta) – Arm (James ) – Vision (Danny Voils, Mathias Sunardi) – Natural Language Processing (Robert Fiszer) To Do List

Goal Demo towards the end of Spring Term 2012: 1.Base, body, and head assembled. 2.Robot can move around the Engineering Building atrium autonomously or by remote. 3.Robot can avoid obstacles and/or collision with obstacles. 4.Robot can display simple gestures. 5.Few simple interactions.

System Diagram Kinect (Vision) RouterPC Tablet/Head (UI) Neck ArduinoMEGA Microcontroller Body + Base Sensors On Base Motor Controllers Rotary Encoders DC Motors (Wheels) Linear Actuators (Waist) Limit Switch (Bumpers) Sonar (Proximity)

Base

Omar Mohsin, Ali Alnasser Avoids obstacles Navigate safely Storage: – Battery – PC – Base & body motor controllers Bumpers to detect collisions ArduinoMEGA Microcontroller PC Rotary Encoders DC Motors (Wheels) Limit Switch (Bumpers) Sonar (Proximity)

Base Progress/Current State: – Encoders, batteries, battery charger, power management board, limit switches have been purchased. – Battery selected for ~2 hours (normal operation). – Testing to determine best proximity/obstacle avoidance policy. – Waiting for motor controllers. Rotary Encoders DC Motors (Wheels) Limit Switch (Bumpers) Sonar (Proximity) ArduinoMEGA Microcontroller PC

Base Controllers – PC – ArduinoMEGA – Motor Controller Sensors: – Limit Switch (x8) – Sonar (x12) – Rotary Encoders (x4) Actuators: – DC Geared Motor (x4) ArduinoMEGA Microcontroller PC Rotary Encoders DC Motors (Wheels) Limit Switch (Bumpers) Sonar (Proximity)

Base Motor Controller: – Controls wheels – Rotary Encoders – Closed-loop PID controller Obstacle detection: – Limit Switch for bumpers (emergency stop on collision). – Sonar for obstacle detection & avoidance (15cm - ~6m range).

Body David Gaskin 4 Degrees of Freedom for expressive body gestures, dance motion, etc. – Tilt – Rotation Base for: – Head – Arms – Kinect – User Interface (tablet, buttons, lights, speakers) ArduinoMEGA Microcontroller PC Linear Actuators (Waist)

Body Progress/Current State: – Calculations on range of motion. – Working on determining top joint design. – Programming position control.

Body Controllers: – ArduinoMEGA – Sabretooth motor driver Sensors: – Encoder (built-in in actuators) Actuators: – Linear Actuators (x4) – Stepper motor (x1) (not implemented yet) ArduinoMEGA Microcontroller PC Linear Actuators (Waist)

Head/Neck Stephen Huerta Neck: – 2 Degrees of freedom: tilt and pan. Head: – Cartoon face on tablet device. – User Interaction. – Display responses. PC

Head/Neck Progress/Current State: – Early testing for motor controls. – Research into tablet holder. – Research into tablet programming (iOS).

Head/Neck Controllers: – Arbotix Actuators: – Bioloid servos (x2)

Head/User Interface (concept) Microphone/Camera inputs (possibility) Gives users text and visual feedback Manual input feedback for users

Head/User Interface (concept) Microphone/Camera inputs (possibility) Gives users text and visual feedback Manual input feedback for users

Arm (James’ part) PC

Vision Mathias Sunardi, Danny Voils Object detection/recognition Face detection/recognition Navigation/localization Kinect (Vision) PC

Vision State: – Mathias Sunardi is working with Danny Voils to use images from Kinect for object recognition based on Danny’s thesis work. – Mathias Sunardi is working on hallway- vanishing-point detection for navigation. Kinect (Vision) PC

Natural Language Processing Status: – No update.

Navigation Status: – No update.

To Do Assemble sensors on base and test. Determine safety policies for: – Navigation (avoid collision, stairs, walls) – Components (avoid damages to actuators, power system, controllers) Assemble base with upper body Construct upper body for base of neck and arm. Design/programming User Interface Mapping/navigation program Main program to integrate all components

Questions?

Extra Slides …

Head/Neck