OSCAR Octagonal Speech Controlled Autonomous Robot Team Ongo01 Motion Control & End Effector Frerichs, Matt – EE Moudin, Alex – ME Shedek, Tom – ME Wajid,

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Presentation transcript:

OSCAR Octagonal Speech Controlled Autonomous Robot Team Ongo01 Motion Control & End Effector Frerichs, Matt – EE Moudin, Alex – ME Shedek, Tom – ME Wajid, Fahad – EE Sensors VanWaardhuizen, Michael – CprE Farver, Cory – CprE Humke, Daniel – EE Mian, Farrukh – EE Software Sweeney, James – CprE Acosta, Argenis – CprE Jordan, Patrick – CprE Mwita, Abdallah – CprE Olson, Jason – CprE Qazi, Abdul – CprE Power Marquis, Daniel – EE/French Nguyen, Hong – EE Faculty Advisor Prof. Ralph E. Patterson, III Client ISU Department of Electrical & Computer Engineering Abstract The objective of OSCAR is to design and develop methods that will be used to interest young students in the many different fields of engineering. Students will be challenged by using interactive software and technology in order to control OSCAR. By using these interactive tools, younger students will be able to understand many of the results and rewards of effective engineering in problem solving. Problem Statement Over the past few semesters, OSCAR has deteriorated into a state of dysfunction. To bring OSCAR back to a state of operation, the sub-teams will need to assess and repair the following sub-systems: Motion Control & End Effector Assess the state of OSCAR’s arm (end effector) Ensure motion control system is operating correctly Software Determine current state of OSCAR’s onboard computer Research feasibility of switching from a Windows 98 to a Linux operating system Sensors Repair and test OSCAR’s navigation sensors Power Assess power requirements of other sub-systems Test and implement DC/DC converter designed by past teams Operating Environment OSCAR will operate in an indoor, controlled environment. Operation surfaces will be smooth and free from obstructions. Ambient noise levels should be low to allow for voice control. Intended Users & Uses Users OSCAR Team members Uses Demonstrations of Electrical & Computer Engineering Programs at ISU Assumptions Controlled operating environment Demonstrations will last less than one hour Acknowledgement The OSCAR team would like to thank and acknowledge Prof. Patterson for working with the sub- teams of OSCAR and being our faculty advisor. Design Objectives Develop an autonomous robot that can navigate and interact with its environment Functional Requirements Animation and speech recognition through software Sufficient quality power to perform classroom demonstrations Accurate, functional sonar system to detect nearby objects Functional arm and gripper assembly Expected End Product & Deliverables Motion Control & End Effector Able to move under own power Completely assembled arm and gripper assembly (end effector) Software Able to respond to verbal cues from operators Able to speak based on input from an operator Sensors Able to determine directional orientation and distance from near-by objects Power A DC-DC power supply system for all of OSCAR Design Constraints All systems must operate in a limited space OSCAR must operate off of an onboard power supply Testing Considerations Individual component or circuit testing (a sonar sensor, a motion control card, or a software module) Sub-system testing (Sensor system, Power system, etc.) Complete OSCAR functionality Technologies Considered Motion Control & End Effector Upgraded control controller cards Software Linux operating system Low power hardware Sensors Improved sensor components and circuit boards Power DC power supplies (DC/DC converter, DC/AC/DC converter, and 100% battery) Measurable Milestones Complete sub-team project definitions Integrate sub-team products Complete combined sub-system testing (full OSCAR functionality) Perform successful demonstrations Complete documentation and place in depository for future use Proposed Approach Research new data and analyze old information to determine possible solutions to current problems Test and evaluate proposed solutions by sub-team Implement sub-team components and ensure system-wide functionality Closing Summary Over past semesters, last minute design changes have cause OSCAR to become dysfunctional. To correct this, the OSCAR Senior Design Team will research and test improved technologies to solve these current issues, as well as provide a coherent and logical plan for the development of OSCAR for future teams. The development and incorporation of the improved technologies will bring OSCAR back to a state of functionality, able to perform demonstrations and the duties of ISU’s Robotic Ambassador. Financial & Other Resources See chart below for estimated financial and other resources by OSCAR sub- team Personnel Efforts See chart for estimated personnel hours by OSCAR sub-team Limitations Limited space on robot OSCAR must be portable and use a mobile power source