1. Octagonal Speech Controlled Autonomous Robot
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
Design Objectives
Develop an autonomous robot that can navigate and interact with its environment
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
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
Design Constraints
All systems must operate in a limited space
OSCAR must operate off of an onboard power supply
Faculty Advisor
Prof. Ralph E. Patterson, III
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
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.
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
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)
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.
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
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
Personnel Efforts
See chart for estimated personnel hours by OSCAR sub-team
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
Financial & Other Resources
See chart below for estimated financial and other resources by OSCAR sub-team
Assumptions
Controlled operating environment
Demonstrations will last less than one hour
Limitations
Limited space on robot
OSCAR must be portable and use a mobile power source
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
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.