1. Project OSCAR Octagonal Speech-Controlled Autonomous Robot ONGO-01

2. Project OSCAR Spring 2006 Client: Iowa State University Department of Electrical and Computer Engineering Faculty Advisors: Ralph E. Patterson III and John W. Lamont Presentation: October 19, 2006 EE Team Members Patrick SmithEE 492 CprE Team Members Lori Rogers CprE 492

3. Project OSCAR Presentation Overview Project Introduction Patrick Smith Description of Activities Lori Rogers & Patrick Smith Resources and SummaryLori Rogers

4. Project OSCAR Introduction to OSCAR OSCAR is… Octagonal Speech-Controlled Autonomous Robot Electronic ambassador Teach visitors about engineering

5. Project OSCAR List of Definitions OSCAROctagonal Speech-Controlled Autonomous Robot BX-24Microcontroller used to interface with SONAR system CVSConcurrent versions system Drive trainThe assembly of electrically controlled motion elements, including the robot’s wheels, gears, belts I/OInput and output to a device PEELProgrammable Electrically Erasable Logic SONARSound navigation and ranging WikiAn Internet-based content management system

6. Project Introduction Patrick Smith

7. Project Introduction Problem Statement General Problem Locate another group at ISU to assume responsibility for the development and use of OSCAR. Also, gather information about the history of the robots and existing inventory. General Solution Approach The ongoing project was modified this semester to work with the ECpE department to find a new home for OSCAR.

8. Project Introduction Intended Users and Uses Users Group to adopt OSCAR Use: Develop OSCAR’s hardware and software in order to demonstrate it and raise interest in the field and department. Autonomous navigation of a hallway Ability to pick up and manipulate objects via the arm Ability to speak Control via spoken commands Manual movement via local or remote interface

9. Project Introduction Assumptions and Limitations Assumptions A group within the university is willing to assume responsibility of OSCAR. Limitations The adopting group must be willing to give the required presentations

10. Project Introduction End Product & Deliverables Documentation consisting the following for OSCAR and its predecessors: History Status Accomplishments Description of systems Inventory of OSCAR’s lab List of resources Resources organized neatly

11. Description of Activities Lori Rogers & Patrick Smith

12. Description of Activities Operating Environment Indoors Flat surfaces, no drop-offs Obstacles must be 2.5 feet high

13. Description of Activities Intro to OSCAR’s Systems Modular stackable system 4 Stages Arm Sonar Software & voice Power & drive

14. Description of Activities Power & Drive Drive System Wheels, gears, suspension Motors Motor controller Power System DC system DC/AC inverter Battery

15. Description of Activities Software: Overview Computer PC Debian GNU/Linux OS Speakers & microphone Serial ports Software Java-based control system C and Perl software for specific tasks Client C# client software to run on Windows laptop 802.11b Wireless Ethernet connection Xbox controller

16. Description of Activities Software: Status Past Developments Software control system developed Client software developed Computer installed Possible Future Improvements Install new computer & operating system Develop software

17. Description of Activities Sonar: Overview Components 8 sonar transducers 8 sonar array modules 1 microcontroller Operation Multiplexing of I/O from the microcontroller to the array modules Angle coverage is satisfactory

18. Description of Activities Sonar: Overview System

19. Description of Activities Sonar: Status Past Developments System designed, installed, debugged, repaired Recently finished hardware testing Developed a program to gather SONAR data Possible Future Improvements Develop a navigational algorithm Develop a demo using the entire system

20. Description of Activities Arm: Overview An arm for OSCAR to use in interacting with his environment Gripping Lifting Collaboration with mechanical engineering department through ME 466

21. Description of Activities Arm: Status (Electronic) Possible Future Improvements Develop specific design 1 Microcontroller chip, 4 Motor controller chips, 4 H-Bridge driver chips, 4 H-Bridges PIC18F4550, LM629, LMD18201 Test portions of actuator control, I/O Implement and test complete end effector control system

22. Description of Activities Arm: Status (Mechanical) Past Developments Designed device Procured materials Started fabrication of parts Possible Future Improvements Complete assembly of the arm Design and manufacture the slide mechanism

23. Present Accomplishments Working with ECpE department to find a home for OSCAR within the department Gathering information regarding possible groups outside of the department Began inventory of OSCAR’s lab

24. Resources and Schedules Lori Rogers

25. Resources and Schedules: Fall 2006 Personnel Effort Requirements Inventory Gathering robot information Finding group Documentation project Senior Design reporting TOTAL HOURS: 154

26. Schedule for Fall 2006

27. Resources and Schedules: Fall 2006 Financial Requirements Fall 2006 Personal contributions:$40 Cost of labor at 10.50 an hour:$1,617 Estimated Total Fall 2006:$1,657 Previous Semesters Spring 2006 $12,980 Fall 2005: $10,000-11,000 Spring 2005: $6,000-9,000 Fall 2004: $9,000-13,000 Spring 2004: $12,000 Fall 2003: $15,000 Spring 2002: $10,000-16,000 Fall 2001: $11,000-17,000 Estimated Overall Total, Spring 2001- Fall 2006: $127,637

28. Summary Lori Rogers

29. Project OSCAR: Summary Lessons Learned What went well Small group = easy communication What did not go well Summer work abandoned due to cancellation What technical knowledge was gained More in-depth understanding of OSCAR

30. Project OSCAR: Summary Lessons Learned What non-technical knowledge was gained Project management experience Importance of documentation methods and skills Flexibility Experience in project closure What would be done differently Work more closely with ECpE faculty from the beginning

31. Project OSCAR: Summary Risks and Risk Management Anticipated potential risks Loss of team member No group willing adopt OSCAR Anticipated risks encountered None

32. Project OSCAR: Summary Risks and Risk Management Unanticipated risks encountered Cancellation of the Project Resultant changes in risk management More thorough documentation

33. Project OSCAR: Summary Closing Still incomplete, but must be given to new group Most likely possibility is Special Interest Group in ECpE department Future should involve Finalizing OSCAR’s systems Satisfying department needs through further robotic development

34. Project OSCAR Questions? http://seniord.ee.iastate.edu/ongo01