Project OSCAR Octagonal Speech-Controlled Autonomous Robot ONGO-01

Project OSCAR Spring 2006 Client: Iowa State University Department of Electrical and Computer Engineering Faculty Advisor: Ralph E. Patterson III Presentation: March 9, 2006 EE Team Members Philip DerrEE 492 Robert Dunkin EE 492 Nicholas Hoch EE 492 Noman RehanEE 491 Patrick SmithEE 491 CprE Team Members Peter Gaughan CprE 492 Andrew Levisay CprE 492 Mike Mikulecky CprE 492 Lori RogersCprE 491 ME Team Members Brandon DavisME 466 Kyle Huck ME 466

Project OSCAR Presentation Overview Project IntroductionPeter Gaughan Description of ActivitiesSub-teams Resources and SummaryPatrick Smith

Project OSCAR List of Definitions OSCAROctagonal Speech-Controlled Autonomous Robot BX-24Microcontroller used to interface with SONAR system CVSConcurrent versions system Drive trainThe assembly of electrically controlled motion elements, including the robot’s wheels, gears, belts GUIGraphical user interface I/OInput and output to a device PEELProgrammable Electrically Erasable Logic SONARSound navigation and ranging TachometerA device for indicating speed of rotation WikiAn Internet-based content management system

Project Introduction Peter Gaughan

Project Introduction Problem Statement General Problem Develop a robot and perform demonstrations to generate interest in the field and in the department. General Solution Approach An ongoing project was started to design a modular, autonomous robot which incorporates speech control, sonar sensors, and an arm to interact with its surroundings and audience.

Project Introduction Operating Environment Indoors Flat surfaces, no drop-offs Obstacles must be 2.5 feet high

Project Introduction Intended Users and Uses Users Project OSCAR team members Supervised non-technical users Use: Demonstration to raise interest in the field and the department Autonomous navigation of a hallway Ability to pick up and manipulate objects via the arm Ability to speak Control via spoken commands Manual movement via local or remote interface

Project OSCAR Group Presentations Presented to groups of young students to teach them about technology and to get them excited about ISU engineering Two presentations so far Two left, scheduled for next Friday

Project Introduction Assumptions and Limitations Assumptions Demonstrations last less than one hour Technical supervisors present during operation Operators are properly trained in control mechanisms Remote PC for robot control has the appropriate software and hardware Limitations Software must run in Linux or comply with remote control protocol Speech commands are issued less than 15 feet away Sonar range is 15 inches – 35 feet Must fit through a standard 30-inch doorway Arm must fit within top module

Project Introduction End Product & Deliverables A robot with working systems Power Drive Sensors Software Arm Documentation

Description of Activities Intro to OSCAR’s Systems Modular stackable system 4 Stages Arm Sonar Software & voice Power & drive

Power and Drive Andy Levisay

Description of Activities Power & Drive Drive System Wheels, gears, suspension Motors Motor controller RoboteQ AX2500 Tachometer feedback Power System DC system DC/AC inverter 12V Battery

Description of Activities Power & Drive: Spring 2006 Fall 2004, Spring 2005 Tachometer technology selected, circuit designed Fall 2005 Tachometer circuit to be implemented & tested Spring 2006 Tachometer circuit deemed unnecessary Power and Drive System is complete

Software Lori Rogers

Software Past Accomplishments Design process Software controls hardware Software extends in all directions to all levels Main software system Software ported to Linux Java Perl C#

Software Current Problems Java Architecture Hierarchy issues Redundant classes and methods No interfaces Code Inefficient code blocks Speech software not functional Voice recognition not included in code flow

Software Speech Synthesis Problems Existing code not functional FreeTTS software uses low quality voices Approach Research other synthesis packages Test on Linux desktop

Software Speech Synthesis Requirements Functional in Linux Implements JSAPI Free Result: Festival Variety of voices Linux and Windows functionality JSAPI implementation requires unavailable files! Will use FreeTTS, continue search

Software Current Status Basic architecture designed Eliminates redundant classes and methods Takes advantage of Java concepts Allows for future expansion or revisions Necessary code changes noted Increases efficiency Increases readability New Java GUI planned

Software Future Complete design of Java architecture Create new Java GUI based on old C# GUI design Implement new Java architecture Integrate voice synthesis and arm control software

SONAR Philip Derr Mike Mikulecky

SONAR Purpose The goal of the SONAR system is to detect objects in OSCAR’s surroundings with the ultimate goal of autonomous navigation. A simple hallway program is planned as OSCAR’s first navigational attempt.

SONAR SONAR Array Functionality Basic-X selects a transducer and sends init signal Mux connects Basic-X to desired transducer Transducer receives init signal Transducer sends echo signal back Basic-X calculates distance Basic-X sends distance to serial port

SONAR Diagrams System

SONAR Past Accomplishments SONAR array hardware assembled Hardware tested (1 year ago) SONAR program made for Basic-X

SONAR Present Accomplishments Hardware Testing Researched correct test set-ups for individual hardware components Transducer modules, multiplexer, and Basic-X tested for functionality All transducers checked for consistency and quality of data Recent connection problem between multiplexer and LR transducer port LR transducer plugged into R transducer port, R transducer left unplugged

SONAR Present Accomplishments Basic-X SONAR Program Previous program wasn’t working Looked into BASIC code and rewrote portions to restore functionality Altered code to handle 8 transducers and print data in columns for analysis

SONAR Present Accomplishments Java & Serial Port Communication Java takes data from the Basic-X chip via the serial port. The Java SONAR program then analyzes the data and runs the left turn algorithm.

SONAR Present Accomplishments Open hallway to the left raw data in graph form

SONAR Present Accomplishments Hallway Left Turn Characterization & Algorithm 1) OSCAR’s transducer #1 notes when it can’t see the left wall anymore. 2) OSCAR knows when to turn when the transducer #2 reading increases by 20 cm from when point 1 is noted.

SONAR Remaining/Future Work Investigate inconsistent connection in circuit board for the left rear transducer Implement more advanced Basic-X/Java communication Implement a hallway navigation algorithm with mapping Design more robust autonomous positioning algorithms

Arm Control Robert Dunkin Nicholas Hoch

Arm Control Overview Functionality Computer control for four motors in the arm H-bridges for power Controlled by microcontroller(s) Communication with the PC Goals To fully design the system To build the system without significant design revisions

Arm Control Oscar Limits Computer I/O availability Software knowledge Space for chips Types of H-bridge drivers

Arm Control Equipment LM 629 motorcontroller LMD H-bridge driver PIC18F4550

Arm Control Present Accomplishments Started a new design Designed the block diagram Researched all the chips needed for the circuit Created new circuit design with chips Ordered 1 set of chips and started testing each chip

Arm Control Future Work Complete testing of each chip and circuit Work with software for programming of PIC Work with Mechanical for placement of circuit boards Create circuit boards for chips

Robotic Arm Kyle Huck Brandon Davis

Previous Design Main design and concepts complete Some parts made The arm is not completely assembled Not all parts required for a complete mechanical system are made

Current Design The current design remains similar to the previous design Fixed many small problems with the previous design All the changes in design are small but were necessary to allow the design to function

Changes No access hole was made for the set screw in the wrist joint. The set screw had to be ground to the curvature of the wrist joint in order to spin freely inside the larger joint piece.

Changes Cont’d A pin was added to the main gear on the elbow joint to fix the arm to the motion of the gear

Changes Cont’d The motor shafts did not protrude from the plates far enough for the set screws on the wrist joint and the worm gears to engage on the motor shaft. The plates were machined such that the motor would be “countersunk” into the plate

Current Status The arm is assembled and mechanically functional except for the fingers Ready to begin testing and run the wiring through the arm

Future Projects The fingers and finger plates need to be machined The slide mechanism needs to be built The length of the arm may be too long in the current design to completely fit inside OSCAR’s body Modification to the elbow pin may be made to allow for more swing angle in the arm movement

Resources and Summary Patrick Smith

Resources: Spring 2006 Personnel Effort Requirements Arm control circuit design Sonar Array Testing Speech system development Visitor demonstrations Documenting project Senior Design reporting TOTAL HOURS: 960

Resources: Spring 2006 Other Resource Requirements New Computer Has been purchased - $200 Arm Control Structural materials, machining – donated Motors – salvaged Electronics – purchased $45.31 Speech Software – free Operating system – free Documentation Wiki – free, donated Printing & binding – purchased TOTAL COST SPRING 2006: $257.81

Resources: Spring 2006 Financial Requirements Spring 2006 Projected cost of materials: $ Projected cost of labor at $10.50 per hour: $10,080 Spring 2006 Projected Total: $10, Previous Semesters Fall 2006: $11, Fall 2005: $10,000-11,000 Spring 2005: $6,000-9,000 Fall 2004: $9,000-13,000 Spring 2004: $12,000 Fall 2003: $15,000 Spring 2002: $10,000-16,000 Fall 2001: $11,000-17,000 Estimated Overall Total, Spring Spring 2006: $125,980

Project OSCAR: Summary Lessons Learned What went well New team member orientation to complex system What did not go well Difficulties with sonar array Intermittent computer problems What technical knowledge was gained Electronic, and control systems Linux software development Java code integration with various technologies

Project OSCAR: Summary Lessons Learned What non-technical knowledge was gained Project management experience Documentation methods, skills, and the importance thereof Presentation skills Interdisciplinary engineering interaction

Project OSCAR: Summary Risks and Risk Management Anticipated potential risks Part ordering delays Complexity of coordination Loss of Team Member Anticipated risks encountered Coordination difficulties Loss of Team Member

Project OSCAR: Summary Risks and Risk Management Unanticipated risks encountered Team member health problems Sonar multiplexer circuitry failure

Closing Peter Gaughan

Project OSCAR: Summary Closing Still in overall implementation stage – autonomy is incomplete Continued demonstrations have been effective in developing team member abilities Future should involve Finalizing OSCAR system Satisfying department needs through further robotic development

Project OSCAR Questions?