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 Advisor: Ralph E. Patterson III Presentation: March 9, 2006 EE Team Members Philip DerrEE 492 Robert Dunkin EE 492 Nicholas Hoch EE 492 Noman RehanEE 491 Patrick SmithEE 491 CprE Team Members Peter Gaughan CprE 492 Andrew Levisay CprE 492 Mike Mikulecky CprE 492 Lori RogersCprE 491 ME Team Members Brandon DavisME 466 Kyle Huck ME 466

3. Project OSCAR Presentation Overview Project IntroductionPeter Gaughan Description of ActivitiesSub-teams Resources and SummaryNick Hoch

4. 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 GUIGraphical user interface I/OInput and output to a device PEELProgrammable Electrically Erasable Logic SONARSound navigation and ranging TachometerA device for indicating speed of rotation WikiAn Internet-based content management system

5. Project Introduction Peter Gaughan

6. Project Introduction Problem Statement General Problem Develop a robot and perform demonstrations to generate interest in the field and in the department. General Solution Approach An ongoing project was started to design a modular, autonomous robot which incorporates speech control, sonar sensors, and an arm to interact with its surroundings and audience.

7. Project Introduction Operating Environment Indoors Flat surfaces, no drop-offs Obstacles must be 2.5 feet high

8. Project Introduction Intended Users and Uses Users Project OSCAR team members Supervised non-technical users Use: Demonstration to raise interest in the field and the 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 Demonstrations last less than one hour Technical supervisors present during operation Operators are properly trained in control mechanisms Remote PC for robot control has the appropriate software and hardware Limitations Software must run in Linux or comply with remote control protocol Speech commands are issued less than 15 feet away Sonar range is 15 inches – 35 feet Must fit through a standard 30-inch doorway Arm must fit within top module

10. Project Introduction End Product & Deliverables A robot with working systems Power Drive Sensors Software Arm Documentation

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

12. Description of Activities

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

14. Description of ActivitiesLori Rogers 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

15. Description of ActivitiesLori Rogers Software: Status Past Software control system developed Client software developed Computer installed Present Integrate speech synthesis with software system Improve current software system Upgrade computer Future Implement speech recognition

16. Description of ActivitiesPhilip Derr 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

17. Description of ActivitiesPhilip Derr Sonar: Overview System

18. Description of ActivitiesAndy Levisay Sonar: Status Past System designed, installed, debugged, repaired Present Recently finished hardware testing Developing a program to gather SONAR data Future Develop a navigational algorithm Develop a demo using the entire system

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

20. Description of Activities Noman Rehan Arm: Status (Electronic) Present 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 Future Implement and test complete end effector control system

21. Description of Activities Arm: Status (Mechanical) Past Designed device Procured materials Started fabrication of parts Present Continue fabrication of parts Integrate manufactured components Future Complete assembly of the arm with all mechanical components properly functioning Finalize concept and begin manufacturing the slide mechanism

22. Resources and Schedules Nick Hoch

23. Resources and Schedules: Spring 2006 Personnel Effort Requirements Arm control circuit design Speech system development Visitor demonstrations Documentation project Senior Design reporting TOTAL HOURS: 1160

24. Resources and Schedules: Spring 2006 Other Resource Requirements New Computer –Needs to be purchased - $500 End effector –Structural materials, machining – donated –Motors – salvaged –Electronics – purchased Speech –Software – free –Operating system – free Documentation –Wiki – free, donated –Printing & binding – purchased TOTAL COST SPRING 2006: $800

25. Resources and Schedules: Spring 2006 Financial Requirements Spring 2006 Projected cost of materials: $800 Projected cost of labor at $10.50 per hour: $12,180 Fall 2005 Projected Total: $12,980 Previous Semesters 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- Spring 2006: $125,980

26. Summary

27. Project OSCAR: Summary Lessons Learned What went well New team member orientation to complex system Fixed implementation problem to avoid tachometer What did not go well Difficulties with sonar array Intermittent computer problems What technical knowledge was gained Electronic, mechatronic and control systems Linux software development Java code integration with various technologies

28. Project OSCAR: Summary Lessons Learned What non-technical knowledge was gained Project management experience Documentation methods, skills, and the importance thereof Presentation skills Interdisciplinary engineering interaction What would be done differently Prioritization of part ordering

29. Project OSCAR: Summary Risks and Risk Management Anticipated potential risks Part ordering delays Documentation problems Personal injury Complexity of coordination Anticipated risks encountered Part ordering delays Coordination difficulties

30. Project OSCAR: Summary Risks and Risk Management Unanticipated risks encountered Team member health problems Sonar multiplexer circuitry failure Resultant changes in risk management Emphasis on shared knowledge Creation of Internet-based project repository

31. Project OSCAR: Summary Closing Still in overall implementation stage – autonomy is incomplete Continued demonstrations have been effective in developing team member abilities Future should involve Finalizing OSCAR system Satisfying department needs through further robotic development

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

33. Project OSCAR Thanks! http://seniord.ee.iastate.edu/ongo01