1. Dexter-2 Universal Robotic Research Platform GROUP MEMBERS: Sachitanand S. Malewar Anish Mohan Mukarram Baig Sachin Prabhu PROJECT GUIDE: Prof. K. G. Balakrishnan

2. Use of universal robotic research platform Used in cutting edge research worldwide. Widely used in research labs and industry. Used for development and testing of new algorithms. Used for rapid development in real time application. Used in educational institutes for giving students exposure to robotics. Built around highly up scaleable architecture. They also provide huge numbers of functionalities for further up gradation. Due to their universal nature robots can be programmed in any languages.

3. Aspects of Universal Robotic Research Platform Powerful onboard computer with neural co-processor Powerful onboard computer with neural co-processor Accurate locomotion Accurate locomotion Wireless connectivity with external world Wireless connectivity with external world Efficient and accurate navigation system Efficient and accurate navigation system Pinpoint positioning systems Pinpoint positioning systems Accurate mappers with intelligent path planning algorithms Accurate mappers with intelligent path planning algorithms Arrays of image processing tools Arrays of image processing tools 3D vision for depth recognition 3D vision for depth recognition Intelligent robot Human interaction using artificial neural networks Intelligent robot Human interaction using artificial neural networks Precision robotic arm with forced feedback Precision robotic arm with forced feedback Array of control modes Array of control modes Onboard LCD display Onboard LCD display

4. Existing options Pioneer series robots

5. Dexter-2 Universal Robotic Reaserch Platform

6. Various Parts of Dexter-2

7. Dimensions of Dexter-2

9. Construction of the robot using multiple decks

10. Adjusting Center of Gravity of The Robot

11. Locomotion System

12. Locomotion ConfigurationFour wheel differential drive SuspensionFour wheel independent type Shaft encoderIndependent positional shaft encoder Weight of the motor1.24Kg. Stall torque153Kg/cm Nominal torque60Kg/cm Wattage25Watts Maximum RPM60 RPM Wheel materialRubber coated composite material Wheel diameter100mm. Horizontal thrust/motor12Kg./motor Total Horizontal thrust48Kg Maximum velocity31cm/s

13. Parts of the Locomotion System

14. Four wheel Differential Drive

16. Shaft Encoder

17. Locomotion control

18. Onboard computer Processor-Intel 2.4 GHz Hyper threading with 800MHz Front side bus Processor-Intel 2.4 GHz Hyper threading with 800MHz Front side bus Intel 865PE chipset Intel 865PE chipset ASUS P4P 800 DELUX Mother board ASUS P4P 800 DELUX Mother board 1GB DDR RAM in Dual DDR configuration 1GB DDR RAM in Dual DDR configuration North Bridge with 6.4GigaBytes/Sec 40 bit Bus North Bridge with 6.4GigaBytes/Sec 40 bit Bus ICH5R controlled south bridge working at 700MB/S ICH5R controlled south bridge working at 700MB/S Two 80 GB 7200 RPM Hard discs in RAID configuration Two 80 GB 7200 RPM Hard discs in RAID configuration Serial ATA Serial ATA Onboard IEEE 802.11b wireless LAN Onboard IEEE 802.11b wireless LAN 1GB/s Giga bit LAN 1GB/s Giga bit LAN Two printer ports and four serial ports Two printer ports and four serial ports Eight USB 2.0 ports working at 450MB/s Eight USB 2.0 ports working at 450MB/s Two IEEE 1394 Fire wire ports Two IEEE 1394 Fire wire ports Five PCI slots Five PCI slots Ai based dynamic overclocking Ai based dynamic overclocking Supports composit video signal Supports composit video signal

19. Front Side of Onboard computer

20. Back Side of Onboard computer

21. Side View of Onboard computer

22. Wireless Keyboard and Mouse With TFT LCD Display

23. Mounting position of TFT LCD and Long Range Infrared Scanner

24. Navigational systems Dynamic ultrasound terrain mapper gives detailed terrain map of surrounding including obstacles in the path. Infrared positioning system pinpoints robot’s position in polar coordinates Infrared orientation system provides information about robots orientation Infrared docking system helps robot to dock to docking station. Infrared range finder Gyroscopes Accelerometers

25. Mounting of The Navigational Systems

26. Ultrasonic terrain mapper Type- Dynamic terrain scanning Range- 6 Meters Accuracy- 1 cm Readings- 48/360 degrees Reading speed- 0.3 sec Mapped terrain Video

27. Infrared positioning system Gives robots position with 0.2 degrees in polar coordinates Transmits robot’s position with 9Kbps 412MHz wireless link

28. Infrared positioning system

30. Infrared Orientation System Infrared orientation system is mounted on the robot Infrared orientation system is mounted on the robot It gives orientation of the robot with respect to infrared positioning system It gives orientation of the robot with respect to infrared positioning system It is like infrared compass It is like infrared compass

31. Infrared Orientation System

32. Laser Range Finder

33. Piezoelectric Gyroscope Gyroscope board Piezoelectric Gyroscope

34. arm Robotic arm Nine axis robotic arm Nine axis robotic arm Configured in PRPPRPRRR Configured in PRPPRPRRR Best power to weight ratio Best power to weight ratio

35. Robotic arm Robotic Gripper Arm Specifications Configuration PRPPRPRRR Number of axis9 Max Weight that can be lifted.1Kg Max pressure that can be applied 1Kg/cm 2 The Gripper can rotate 360 degrees using the slip-ring design of the arm. Parallelogram Lift with resistive feed back.

36. Axis of Robotic arm

37. Axis number Coordinate system Motion in degree/distanceMotor RPM Motor torque 1PrismaticInfinite distance42120 kg/cm 2Revolute360 degrees42120 kg/cm 3Prismatic50cm.6070 kg/cm 4Prismatic40cm6070 kg/cm 5Revolute83 degrees6070 kg/cm 6Prismatic45cm.5010 kg/cm 7Revolute360 degrees518 kg/cm 8Revolute180 degrees518 kg/cm 9Revolute360 degrees518 kg/cm

38. Image processing elements Two night vision cameras for 3D vision One colure camera Two USB web camera One Lego camera One ZISC camera Two Pinnacle image grabbing cards Mounted on moveable platform

39. STK 500 Development Board For AVR Microcontrollers

40. ZISC Neural network board Based upon zero instruction set computing The Wizard board processes up to 1 million vectors per second Equivalent to billion instructions / second (10 GIPS) ZISC does not use any algorithms for programming the solution On board 2 ZISC chips (156 parallel processors), one FPGA totaling 100,000 gates and 1 Mb of memory Up to 1 million recognitions/second

41. Lower Level Image Processing

42. Motion Detection Laser Range Finder

43. Control modes of the robot Remote control Remote control Robot control by speech Robot control by speech Robot control by analyzing palm movement Robot control by analyzing palm movement Controlling robot via a Distributed Network in server client environment Controlling robot via a Distributed Network in server client environment Controlling robot through internet Controlling robot through internet Automated Navigation To Target Automated Navigation To Target Intelligent sonar navigation Intelligent sonar navigation Mapper Mapper Shortest path algorithm Shortest path algorithm LEGO Vision command and LEGO Mind storm LEGO Vision command and LEGO Mind storm RCX 2.0 RCX 2.0

44. Remote control 50 channel remote control 50 channel remote control Working on 412 MHz Working on 412 MHz 8 bit security address 8 bit security address 50 meters range 50 meters range

45. Long Range Night Vision Camera Ultra long range active night vision camera with passive image intensifier lenses

46. Graphical User Interface

47. Mapper GUI

48. Shortest Path Algorithm

49. LEGO Mindstorm And LEGO Vision Command

50. LAN Control LAN Control using LEGO Mindstorm And LEGO Vision Command