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

2. Project OSCAR Fall 2005
Client: Iowa State University Department of Electrical and Computer Engineering
Faculty Advisor: Ralph E. Patterson III
Presentation Date: December 6, 2005
EE Team Members
Kevin Cantu EE 492
Jawad Haider EE 492
Robert Dunkin EE 491
Nicholas Hoch EE 491
CprE Team Members
Jeff Parent CprE 492
Peter Gaughan CprE 491
Andrew Levisay CprE 491
Mike Mikulecky CprE 491
ME Team Members
Lynn Tweed ME 466
Michael Snodgrass ME 466
David Brownmiller ME 466

3. Project OSCAR Presentation Overview
Initial Information Jeff
Project Introduction Jeff
Description of Activities
Tachometer Jawad & Bob
Software Mike & Peter
End-effector construction Dave & Michael
End-effector electronics Nick
Documentation: Wiki Andy
Resources, Schedules , Summary Kevin
Closing Jeff

4. Project OSCAR List of Definitions
OSCAR Octagonal Speech-Controlled Autonomous Robot
BasicX-24 Microcontroller used to interface with SONAR system
CVS Concurrent versions system
Cybot The predecessor to OSCAR
Drive train The assembly of electrically controlled motion elements, including the robot’s wheels, gears, belts, and
tachometers
End effector The electrically controlled mechanical arm and gripper
GUI Graphical user interface
I/O Input and output to a device
PEEL Programmable Electrically Erasable Logic
SONAR Sound navigation and ranging
Tachometer A device for indicating speed of rotation
Wiki An internet based content management system for many
users

5. Project Introduction
Jeff Parent

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 end effector to interact with its surroundings and audience.

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

8. Project Introduction Intended Users and Uses
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 place objects via the end effector
Ability to speak
Manual movement via wireless control software
Control via spoken commands

9. Project Introduction Assumptions and Limitations
Demonstrations last less than one hour
Technical supervisors present during operation
Operators speak English and are familiar with control software
Remote PC for robot control has the appropriate software and hardware
Limitations
Software must run in Mandrake Linux
Speech commands are issued less than 15 feet away
Sonar range is 15 inches – 35 feet
Wireless Ethernet within 328 feet
Must fit through a standard 30-inch doorway
End effector must fit within top module

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

11. Jawad Haider Bob Dunkin
Tachometer
Jawad Haider
Bob Dunkin

12. Tachometer Electromechanical Design
Problem
Interface of Motor Controller and Optical Encoder
Optical encoder outputs digital pulse train
Motor controller needs analog 5V with direction
Solution
Build a Wheel Tachometer circuit and interface the motor and encoder

13. Tachometer Electromechanical Design
Optical encoder digital output
Optical Encoder
Needed analog signal

14. Tachometer Proposed Design

15. Tachometer Parts Used and Schematic
Switch: ADG419
Frequency-to-voltage converters: LM2907 and/or AD650KN
Phase decoder: LS7184 LSI sheet/LS7184 USD sheet
Op-amps: LM324
Charge pumps (providing negative voltage): ADM660
Adjustable voltage regulator: LM117

16. Tachometer Accomplishments
Tested the phase decoder
We look at the UP/DN output
Signal flips between +5V and 0V with the change in the direction of shaft motion
Signal level stays there until direction changes again

17. Charge Pump Voltage Regulators Tachometer Testing
Two capacitors of 10uF are used for charge storage
The voltage inversion operation is obtained using ADM 660
Voltage Regulators
Two types of voltage regulators are used (5V and 12V)

18. Tachometer Frequency to Voltage
LM 2907
Unknown chip malfunction
AD 650KN
MATLAB analysis
Ripple voltage too high
Used for higher frequency motors
Range (100Hz—1MHz)

19. Tachometer Average and Ripple Voltage

20. Need to put more research into chips
Tachometer Future
Need to put more research into chips
TC 9402 chips seems more feasible up to 100Hz
Design new circuit, with new chips
Create and test circuit components

21. Mike Mikulecky Peter Gaughan
Software
Mike Mikulecky
Peter Gaughan

22. Software Past Accomplishments
Design process
Software controls hardware
Software extends in all directions to all levels
Main software system

23. Software Software Languages
All ported to Linux
Java
Pearl C#

24. Software Current Problems
Code
Voice recognition
Documentation of code
Computer hardware
Inconsistent power supply performance
Defective power button
Motherboard battery dead

25. Add support for debugging
Software Java
Improve Java code
Reorganize
Add support for debugging

26. Rapid evaluation of ideas Wireless motion control via Xbox controller
Software Prototyping
Rapid evaluation of ideas
Wireless motion control via Xbox controller
Prototyping framework

27. Software Perl
Prototyping language
Flexible and fast
Modular

28. Software Miscellaneous
New brain for OSCAR
No change in voice synthesis

29. Continue modularization of Java
Software Future
Continue modularization of Java
Finish and extend prototyping framework
Use framework to test motion algorithms
Integrate better voice synthesis

30. End Effector Mechanical
David Brownmiller
Michael Snodgrass

31. End Effector Previous Design2 1 3 4
Design was only 50% Complete
Slide mechanism had binding issues
Gears and motors were not modeled to scale
Structural issues on wrist rotational motor

32. End Effector Current Design1 2
Remodel Gears and Motors
Design rotational joint to eliminate stress on the rotation motor
A completed arm with slide and base rotation for spring 06
Selected materials for structural integrity and aesthetics

33. End Effector Current Status
Acquisition of materials
Physical manufacture of the arm
Manufacturing limitations on campus
Machine shop in Nevada

34. End Effector Control
Nick Hoch

35. End Effector Control Overview
Functionality
Computer control for five motors in the new end effector
H-bridges for power
Controlled by microcontroller(s)
Communication with the PC
Goals
To fully design the system
To build the system without significant design revisions

36. End Effector Control Original Technology Selection
BasicX-24 top level
Multiplexers
LM629 motorcontrollers (1 per motor)
H-bridges (1 per motor)

37. End Effector Control Questions
Too complex
Serial PC <-> BasicX
Serial BasicX <-> LM629
Skills requred: Java, Basic, LM629 codes, hardware programming

38. End Effector Control Possible Improvements
USB connection (PC <-> microprocessor)
Fewer parts (possibly only 1 microcontroller + 5 H-bridges)
More software, less hardware (faster implementation)
C instead of BASIC as a primary language (students have experience)

39. End Effector Control Possible Solutions
LabVIEW board and software
previously discarded because of PC and Linux issues
PIC like the PIC18F4550
USB capable
Specialized PIC or a DSP chip like the dsPIC30F4011
6 PWM outputs
1 optical encoder input
FPGA with programmed logic to replace entire circuit.

40. Documentation
Andy Levisay

41. Documentation Previous Problems
Incomplete
No central repository
Decision process not documented
Design and testing not well documented

42. Documentation Solution: The OSCAR Wiki
Well organized
Carries from semester to semester
Easy sharing of documents and pictures
Also provides a place for making announcements and meeting times
Useful in document collaboration

43. Documentation The OSCAR Wiki

44. Documentation The OSCAR Wiki

45. Documentation Documentation Activities
Software
Tachometer testing
Sonar maintenance
End Effector

46. Documentation Future Activities
Dedicated server for the WIKI
Adding more back data to the WIKI

47. Resources and Summary
Kevin Cantu

48. Resources and Schedules: Fall 2005 Material Requirements
End effector
Structural materials, machining – donated
Motors – salvaged
Electronics – $99.90
Workstation PC - donated
Software
Operating system – free
OSCAR PC – $10
Documentation
Wiki – free, donated
Wiki PC – $10
Projected semester cost: ~$700
Actual semester cost: $119.90

49. Resources and Schedules: Fall 2005 Personnel Effort Requirements
Visitor demonstrations
End effector control circuit design
Tachometer implementation
Software
Documentation project
Senior Design reporting
Projected total hours: 1013
Actual hours: 622

50. Resources and Schedules: Fall 2005 Financial Requirements
Projected cost of materials: $700
Actual cost of materials: $119.90
Projected cost of labor at $10.50 per hour: $10,636.50
Actual cost of labor: $6,131.00
Fall 2005 Projected Total: $11,336.50
Fall 2005 Actual Total: $6,650.90
Previous Semesters
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 Fall 2006: $115 thousand

51. Resources and Schedules: Fall 2005 Project Schedule

52. Project OSCAR: Summary Lessons Learned
What went well
New team member orientation to complex system
What did not go well
Implementing tachometer design
Initial team progress: late start this semester
What technical knowledge was gained
Electronic, mechatronic and control systems
Linux software development

53. Project OSCAR: Summary Lessons Learned
What non-technical knowledge was gained
Project management experience
Documentation methods, skills, and importance
Presentation skills
Interdisciplinary engineering interaction
What would be done differently
Better teaching of new team members
Better completed and organized documentation

54. Project OSCAR: Summary Risks and Risk Management
Anticipated potential risks
Part ordering delays
Documentation problems
Personal injury
Loss of a member
Anticipated risks encountered

55. Project OSCAR: Summary Risks and Risk Management
Unanticipated risks encountered
Long term loss of faculty advisor
Software malfunction
Lost knowledge
Resultant changes in risk management
More sophisticated documentation
Emphasis on shared knowledge

56. Closing
Jeff Parent

57. 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 robot development projects

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