1. Ongo-01
Project OSCAR

2. Project Oscar Fall 2004
Client Department of Electrical and Computer Engineering
Faculty Advisor Ralph Patterson III
Team Members
Zachary Kotlarek
David Hawley
Michael Larson
Justin Rasmussen
Gavin Ripley
Peter Rufino
Jason Sytsma
Kevin Cantu
Phil Derr
Jawad Haider
Jeff Parent
CprE 492 EE EE
CprE 491
Presentation Date January 27, 2005

3. Project Oscar Presentation Overview
Initial Information Mike
Project Introduction Gavin
Description of Activities Justin, Jason, Zach, David, & Mike
Resources and Schedules Gavin
Summary Justin
Possibly make changes to this?

4. Project Oscar List of Definitions
OSCAR Octagonal Speech-Controlled Autonomous Robot
CVS Concurrent versions system
Cybot The predecessor to OSCAR
drive train The assembly of electrically controlled motion elements, including the robot’s wheels, gears, belts, and tachometers
End effector The assembly of electrically controlled mechanical arm and gripper
Ethernet A computer network technology for local area networks
GUI Graphical user interface
Linear bearing A rolling element that moves on a straight track
SONAR Sound navigation and ranging
Tachometer A device for indicating speed of rotation
Need to add more definitions, and they need to be clarified. I want the DC-DC converters in here, but some stuff needs to be simplified and clarified. We can probably take this to another page if we get a lot more definitions.

5. Project Introduction

6. Project Introduction Problem Statement
General Problem Statement
To capture the interests of visitors and potential students, the university needs an exciting demonstration of the technological capabilities of its students.
Last Semester’s Needs
New power system
Improve drive train
Easier to use software
Navigation using SONAR
New robotic end effector
General Solution Approach
Recreate entire power delivery system
Understand and improve existing software base
Design a more suitable end effector
Develop intelligent coordination of SONAR and drive motion
Give several robot demonstrations to visitors each semester

7. Project Introduction Operating Environment
Indoors (Outdoors with ideal weather)
Temperature between 32oF – 100oF
Flat surfaces
If obstacles are present, they must be at least 2.5 feet high to be detected

8. Project Introduction Intended Users and Uses
Project OSCAR team members
Trained demonstrators
Supervised non-technical users
Uses
Demonstrate to campus visitors
Robot speaks to operators and audience
Manual control from a remote PC
Autonomous navigation through a room or corridor
Pick up and place objects
Respond to spoken commands

9. Project Introduction Assumptions and Limitations
Demonstrations last less than one hour
Technical supervisors present during operation
Operators speak English
Limitations
Software must run in Mandrake Linux
SONAR range is 0.5 – 35 feet
Wireless Ethernet within 328 feet
Must fit through a standard 30-inch doorway
Power supply must be rechargeable
End effector must fit within top module
Maybe expand this to be one page for assumptions and one page for limitations (this what I’m thinking we should do)

10. Project Introduction End Product
Full drive motion capability
Interaction with users via speech recognition software and speech output
GUI-driven software package
Wireless connection
Manual motion control
Speech output
Room/corridor navigation
Script recording and playback
Externally rechargeable power supply

11. Project Introduction Other Deliverables
End-user operation instructions
Power system and recharging instructions
Software user’s guide
Power system specifications and schematic
SONAR array specifications and schematics

12. Description of Activities

13. Description of Activities Previous Accomplishments
Command-line speech output
New motor control for drive motion
End effector assembly was made lighter
Project website was redesigned
Partial description of navigation algorithm

14. Description of Activities Present Accomplishments
Rebuild power delivery system
Reroute wiring
Install interface panels
Consider power inversion and conversion methods
Purchase and install new battery
Create schematics and user’s manual
Improve software architecture
Document existing software
Develop wireless control interface
Develop GUI to control the robot wirelessly
Test and document new software

15. Description of Activities Present Accomplishments
Create reference base for SONAR array
Build façade for chassis
Improve drive train
Fix belt slipping
Design tachometer circuitry
Redesign end effector (robotic arm)
Maintains layered architecture
Establish documentation standard

16. Description of Activities Project Definition
Total Weight Points: 39
Urgency
Scaling Factor:
28%
Highest
High
Medium
Low
Lowest
Software
Develop control infrastructure
Develop SONAR array testing software
Develop GUI for control and sensor structures
Effort
Develop remote interface
Develop scripts and macros for demonstrations
Test newly-developed software
Document existing software
Document new software
Priority Weight (larger = greater priority) 9 8 7 6 5 4 3 2 1

17. Description of Activities Project Definition
Task
System priority
Project priority
Characterize sonar array through testing
23% 6%
Develop navigation algorithms for sensor array
21%
Write SOPs for sonar testing
15% 4%
Create sonar array reference materials
13%
Document sonar testing from S04 8% 1%
Research imaging and image processing options 2%
Test newly developed software
10% 3%
Develop SONAR array testing software
Develop control infrastructure
Develop remote interface
Develop GUI for control and sensor structures
Develop scripts and macros for demonstrations
Document existing software
Document new software
Reroute wiring, install panels and external connections 9%
Design controllers for end effector motors
11%
Create wiring documentation
Test new end effector assembly 5%
Design suspension system for drive train 7%
TOTAL
100%
Yellow = percentage value forced for conformity to 100% total requirement
* List has been truncated to fit in this space

18. Description of Activities Project Definition
Tasks grouped under milestones to assign overall priority #
Milestone
Priority (%) 1
Drive motion 29 2
Speech Output 3
External Façade 4
End Effector 16 5
Navigation 38 6
Suspension 7
Research 8
Demonstration / Presentation 9
Project Reporting

19. Description of Activities Research
Power conversion
Current power inverter (DC/AC) is not rated to supply necessary power to computer.
Many alternative products considered.
DC ATX power supply is too expensive.
DC/DC converter cannot supply computer’s demand.
New DC/AC inverter is the best solution.
Purchase of new inverter delayed until this semester.

20. Description of Activities Research
Available solutions
Integrated motion control package (LM62xN, HCTL-20xx)
EXPENSIVE
Computer-based control (Java or LabVIEW)
Have to create software algorithm (takes time)
Pentium II with Linux
Create own circuit
Speed: Frequency-to-voltage converter
Direction: Phase decoder

21. Description of Activities Research

22. Description of Activities Design
Tachometer Interface

23. Description of Activities Design
Power system
Power demand identified
Safety measures implemented
Schematic developed

24. Description of Activities Implementation
Power system
Schematic followed
Moving objects avoided
Wires organized and secured to chassis

25. Description of Activities Implementation
Power system
End user accesses battery through interface panel
Battery charger modified

26. Description of Activities Implementation
Drivetrain Modification
Existing Drivetrain exhibited wheel ‘slop’ and belt rubbing
Cause was found to be poor bushing system
Loose bearing allowed wheel to slide and translate
Solution: a press fit polymer bearing to eliminate all unwanted motion

27. Description of Activities Design
Software Architecture
Previous code updated and extended
Layers of abstraction added to the previous design
Wireless adapter added
Operating system upgraded to Mandrake v.10.1
Network communication protocol designed

28. Description of Activities Implementation
GUI and wireless adapters
Functionality is divided into four main sections
Movement Controls
Speech
Sensor display
Scripts
D-Link Wireless Adapter

29. Description of Activities Implementation
GUI connects to OSCAR’s onboard PC from a remote desktop
Onboard PC sends commands to sensors, motor controller, and end effector
Feedback is sent back to the GUI

30. Description of Activities Design
End effector
Previous design was unacceptable
Design Constraints
Size (Layers) Total Cost-Reuse old system components
Retractable ‘Buildable’
Design Features
Retracting/Pivoting Shoulder
Elbow Joint
Wrist Pivot
Locking Wrist

31. Description of Activities Implementation
Façade and Lock System
A simple and cost-effective look for OSCAR
Cam Lock system prevents theft and damage of OSCAR’s internals

32. Description of Activities Project Documentation
Technical appendices added to standard project documents
Technical drawings
Electrical specifications
Technical methods used
User’s Manual
CVS repository utilized
Filing cabinet reorganized
Paper copies of all documentation filed
CD hard backup of files left with Prof. Patterson
Project tracking template

33. Description of Activities Testing and Modification
SONAR testing
Verify the operation of the model 6500 SONAR modules
Measure the time required for the ECHO signal

34. Description of Activities Future Required Activities
Current feature set to be fully implemented before developing new features
Remote and auto drive motion
Remote and auto end effector
Auto navigation and object avoidance
Speech command input
Task
Student Type
Semester
Implement tachometer unit circuit boards EE
Spring 2005
Implement end effector assembly ME
Design control circuits for end effector motors
Fix SONAR array
EE/CprE
Characterize SONAR array
Implement speech-recognition feature (HW and SW)
CprE
Implement control circuits for end effector motors
Fall 2005
Build top-level façade for end effector deck
(any)
Implement control software for end effector
Implement navigational software algorithm

35. Resources and Schedules

36. Resources and Schedules Personnel Efforts
Additional resources:
Visitor demonstrations
Project planning and tracking
Troubleshooting SONAR array

37. Resources and Schedules Financial Requirement

38. Resources and Schedules Financial Requirement
Donated Resources
Power system materials
Various gauges of wire
Wire ties and labels
Wireless Ethernet card (x2)
27GB hard drive

39. Resources and Schedules Project Schedule
Ambitious schedule
Tasks collected into groups
Milestones are group deadlines
First demonstration Oct 19
Class presentation Nov 18
Industrial review Dec 7

40. Summary

41. Summary Lessons Learned
What went well
Acquiring materials
Software development
Design of the end effector
Demonstrations
What did not go well
Unanticipated hardware flaws (SONAR array)
What technical knowledge was gained
Operation of frequency-to-analog converters, digital-to-analog converters, and BasicX microcontrollers
Writing and rewriting sections of the code base
Use of Microsoft Project, AutoCAD, SolidWorks

42. Summary Lessons Learned
What non-technical knowledge was gained
Proper documentation methods
Effort coordination
What would be done differently if you could do it over again
Plan development time for sensor troubleshooting
Accurately determine end product status before planning project

43. Summary Risks and Risk Management
Anticipated potential risks
Ordered parts do not arrive on time
Solution: Allow extra time for delivery
Failure to complete assigned tasks
Solution: Get help from other team members
Cost of development exceeds expectation
Solution: Delay purchase or seek alternate solution
Failure to attend a meeting
Solution: Take notes and inform absent members
Anticipated risks encountered

44. Summary Risks and Risk Management
Unanticipated risks encountered
Failure of the sensor system
Solution: Test all hardware to find defect
Wheel tachometers do not use expected interface
Solution: Design an interface circuit for the optical encoders
Code interface could not send any commands to move the robot
Solution: Restructure old software using new Java classes
Resultant change in risk management
Review documentation of past semesters to accurately anticipate risks
associated with existing implementation

45. Summary Closing Summary
Bring project back on track with purpose and scope
Create useable paper trail for future team members
Substantial, lasting progress to be made in next year of project

46. Questions?