1. SNUT UNN MS&DE Program Professor : Kim Dong Hwan Student : Seo Sung Mok Lee Ok Nam Na Yoon Ho Park Su Min

2. 2 UNN Capstone Design Joint Project with R.H.I.T team

3. Purpose : International communication for the same project Subject – R.H.I.T : 4legged robot with autonomous shooting ( Embedded system) – SNUT : 4legged robot with autonomous shooting (PC base system) Meeting – Formal : Video conference (Tue. or Fri. 9:00AM ) – Informal : Chatting using Skype (Any time) Visitation Schedule – SNUT will visit to US in July – R.H.I.T will visit to Korea in September Joint Project with R.H.I.T team 3 UNN Capstone Design

4. Contents Objective & Functions 1 Schematic Diagram 2 Feature & Mechanism 3 How to control 4 Plan 5 4 UNN Capstone Design

5. Research MAARS TM Robot Foster-Miller's latest innovation in robotics, MAARSTM (Modular Advanced Armed Robotic System) introduces a new modular design to its popular family of TALON® and SWORDS robots for military and first responders. MAARS uses the more powerful M240B medium machine gun and has significant improvements in command and control, situational awareness, maneuverability, mobility, lethality and safety compared to its SWORDS predecessor. [CBS NEWS] 5 UNN Capstone Design

6. Research BIGDOG Robot BigDog is one meter long, 0.7 meters tall, and weighs 75 kilograms, around the size of a small mule. It is currently capable of traversing difficult terrain at 5.3 kilometers per hour (3.3 mph), carry a 154 kilogram load (340 pounds), and climb a 35 degree incline. [1] Locomotion is controlled by an on board computer that receives input from the various sensors featured on the BigDog. Navigation and balance are also managed by the control system. [1] [CNN NEWS] 6 UNN Capstone Design

7. Objective & Functions 4 legged robot with autonomous shooting Velocity: 0.15m/sec Weight: 3.0kg Red balloon Laser & Gun Sensing Obstacle Control mode Autonomous mode Targeting & Gun Uneven Road Specification Functions Wireless Communication Control Blue Tooth 7 UNN Capstone Design

8. Schematic Diagram DSP Control Sensing Target Blue Tooth PC Base system Vision Process Shooting a gun 8 UNN Capstone Design

9. 210 mm Feature (modeling) 120 mm 210 mm 9 UNN Capstone Design

10. Moving Mechanism 10 UNN Capstone Design

11. Moving Mechanism 11 UNN Capstone Design

12. Moving Mechanism 12 UNN Capstone Design

13. Moving Mechanism 13 UNN Capstone Design

14. Moving Mechanism 14 UNN Capstone Design

15. Moving Mechanism 15 UNN Capstone Design

16. Moving Mechanism 16 UNN Capstone Design

17. Feature (Weight) 12 Motors : 50g*12=600g 12 Motors : 50g*12=600g 2 Motors : 50g*2=100g 2 Motors : 50g*2=100g Battery : Less than 160g Battery : Less than 160g Camera : Generally 100~150g Camera : Generally 100~150g Toy gun with laser point : 350g Toy gun with laser point : 350g DSP board : 100g DSP board : 100g Aluminum 2T-5052 : Less than 1130g Aluminum 2T-5052 : Less than 1130g Other parts : 100g Other parts : 100g Total : 2640g = 2.64kg 17 UNN Capstone Design

18. Motor selection Three considerable factors : Angular velocity, Torque, and Cost SS-226 DC: 4.8~7.2V Velocity: 0.20s/60degree Torque: 26kg*cm Weight: 50g Size: 41*20*38mm Cost: 58000won 18 UNN Capstone Design

19. 80mm Speed 80mm 57mm 0.16s / 60˚ = 0.12s / 45˚ Instantaneous velocity : 57mm/0.12s = 475mm/s = 0.475m/s 19 UNN Capstone Design Average velocity : 0.24 m/s 0.24m/s > 0.15m/s Its enough

20. Ankle motors will be induced by the maximum torque. Torque 150mm The torque induced on a ankle motor will be … 15cm x 2.6kg / 4 = 9.75kg*cm (when it is stopped) 15cm x 2.6kg / 2 = 19.5kg*cm (when it is moving) The torque of the ss-226 is 26kg*cm > 19.5kg*cm. 2.6Kg So, it is safe. 20 UNN Capstone Design

21. Motor control How to control? PC Sensor control Wireless device Main controller (DSP) CCD camera Wireless device PC MSRS Communication System 21 UNN Capstone Design

22. How to control? Image information Motion data command Construction of System 22 UNN Capstone Design

23. B Built in Flash memory & Ram A 16bit-Fixed Point CPU C ADC : 10bit, 16channel E Timer : 16 bit D PWM : 16pin Main Controller (DSP) TMS320LF2407A 23 UNN Capstone Design

24. PC Controller (MSRS) MSRS : Micro Soft Robotics Studio Why MSRS? – Service for Vision & Voice Process – Visual Program Language (VPL) – Simulation program – Free software 24 UNN Capstone Design

25. PC Controller (MSRS) C# programming Developing new codes using c#. Second stage Basic stage VPL Application Application by basic modules in MSRS. Final stage Simulation Simulation with a virtual robot or a real robot. 25 UNN Capstone Design

26. Plan 26 UNN Capstone Design Mechanical Part DSP & IC (Control) Part PC(MSRS) Part Finish until September

27. Plan DSP & IC Part WorkApr.May.Jun.Jul.Aug.Sep. Install programs & study manuals Buy basic components Study I/O & PWM DSP code Study motor control method Operate motors independently Connect DSP with IC board Connect all together and operate Link MSRS(PC part) with DSP Add new functions and modify Optimize continuously 27 UNN Capstone Design

28. Plan PC Part WorkApr.May.Jun.Jul.Aug.Sep. Install MSRS Program Seminar for REGO mindstorm Seminar for MSRS lectures Study MSRS program language Build robot protocol and Bluetooth Develop code for vision process Operate a camera with sensors Drive the robot and make controller Add new functions and modify Optimize continuously 28 UNN Capstone Design

29. Plan Mechanical Part WorkApr.May.Jun.Jul.Aug.Sep. Functions & Mechanism design Part design separately in detail Making prototypes and selection Select motors or components CAD modeling & Purchase parts Manufacture frames & Assembly Operate the robot and adjust Add new functions and modify Remanufacture or retouch Frames Complete and optimize 29 UNN Capstone Design

30. SNUT UNN MS&DE Program

31. Prototype

39. Moving mechanism Change of center of gravity 39 UNN Capstone Design

40. Moving mechanism Change of center of gravity 40 UNN Capstone Design

41. Moving mechanism Change of center of gravity 41 UNN Capstone Design

42. Moving mechanism Change of center of gravity 42 UNN Capstone Design

43. Moving mechanism Change of center of gravity 43 UNN Capstone Design

44. Moving mechanism Change of center of gravity 44 UNN Capstone Design