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2 Mobile Robot Navigation with Human Interface Device David Buckles Brian Walsh Advisor: Dr. Malinowski

3 Outline Project Summary Project Summary Project Description Project Description Progress Progress Schedule of Tasks Schedule of Tasks

4 Project Summary A pioneer 3D-X robot shall map an environment in openGL. A pioneer 3D-X robot shall map an environment in openGL. This map shall be displayed on an LCD eyepiece in real time. This map shall be displayed on an LCD eyepiece in real time. The robot shall navigate an environment using potential field planning or direct manual control via a sensor glove. The robot shall navigate an environment using potential field planning or direct manual control via a sensor glove.

5 Project Description Human Interface System Block Diagram

6 Project Description Robot System Block Diagram

7 Project Description - Goals Mapping the robot’s current environment in 3D, in real time, and utilizing OpenGL to display the data on an LCD eyepiece to provide visual feedback Mapping the robot’s current environment in 3D, in real time, and utilizing OpenGL to display the data on an LCD eyepiece to provide visual feedback Provide user override of the automated navigation systems via a glove with sensors and software with feature recognition Provide user override of the automated navigation systems via a glove with sensors and software with feature recognition Implement a sensor (possibly ultrasonic) to detect ceiling height Implement a sensor (possibly ultrasonic) to detect ceiling height Implement a grasping device controllable by the sensing glove Implement a grasping device controllable by the sensing glove

8 Project Description - Goals If time permits, attach a 2 degree of freedom robotic arm to the grasping device, also controllable via sensor glove with feature recognition If time permits, attach a 2 degree of freedom robotic arm to the grasping device, also controllable via sensor glove with feature recognition Implement Potential Field planning as a method for the robot to navigate and map its environment Implement Potential Field planning as a method for the robot to navigate and map its environment

9 Project Description Hand sensors shall have < 3 degrees/second of drift. Hand sensors shall have < 3 degrees/second of drift. Eyepiece shall have a 12 Hz refresh rate. Eyepiece shall have a 12 Hz refresh rate. Eyepiece shall have 180 degree range of vision with 5 degree accuracy. Eyepiece shall have 180 degree range of vision with 5 degree accuracy. Robot shall be able to measure walls within 20 to 150 cm with 2 cm accuracy. Robot shall be able to measure walls within 20 to 150 cm with 2 cm accuracy. Robot shall be able to measure ceiling within 3 m with 5 cm accuracy. Robot shall be able to measure ceiling within 3 m with 5 cm accuracy.

10 Progress ARIA is set-up on lab computer ARIA is set-up on lab computer Potential Field Algorithm is beginning to be utilized Potential Field Algorithm is beginning to be utilized Joystick manual override being developed Joystick manual override being developed Wall Creation Algorithm Wall Creation Algorithm Ceiling Sensor Ceiling Sensor Eyepiece Eyepiece

11 Progress Sensor glove drivers Sensor glove drivers Sensor glove data Sensor glove data Communication protocol Communication protocol Robot arm interface Robot arm interface Tracking algorithm Tracking algorithm

12 Progress Sensor Glove

13 Progress Servo

14 Progress Servo

15 Progress Glove Accelerometer Axis

16 Progress Robot Arm

17 Progress Servo

18 Progress PWM Control Scheme of Servos

19 Progress Flowchart of Hand Sensor Calibration

20 Progress Flowchart of Hand Sensor Control Scheme

21 Schedule of Tasks WeekHardware - DavidSoftware - Brian 1/25Test and interface robot armSet-up ARIA on lab computer 2/1Test and interface DatagloveRobot Simulation/SNOW 2/8Begin to integrate DatagloveRobot Simulation 2/15Begin to integrate robot arm Attempt to combine ARIA and openGL 2/22 Integrate Dataglove & robot arm systemsBegin multi threading 3/1- 3/8 Test Accuracy of Accelerometer, Digital Compass, and GyroscopeFinish multithreading 3/22- 3/2 9Filter ConstructionCeiling detection 4/5Filter ConstructionopenGL to headpiece 4/12Integrate LCD headpiece Replace joystick control with hand 4/19System IntegrationDebug hand interface 4/26-Compile Final Report

22 Questions?

23 Answers 5-Degree of Freedom Combo Board: 2-axis 500 degree gyroscope IDG5005-Degree of Freedom Combo Board: 2-axis 500 degree gyroscope IDG500 3-axis 3g accelerometer ADXL3353-axis 3g accelerometer ADXL335 3-Degree of Freedom Digital Compass on Breakout Board HMC58433-Degree of Freedom Digital Compass on Breakout Board HMC5843 DGV-5 DatagloveDGV-5 Dataglove