Oral Report Rev2

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Oral Report Rev2

  1. 1. Advanced Robotic Mapper (ARM) Scott Crook ECET 497 Apr. 28, 2008 A Robot that builds a map of it’s Environment!
  2. 2. Block Diagram PC Operator Interface Battery Charger Vehicle Wireless Link Power & Motor Drivers Mapping Sensors Main Controller & LCD Position & Orientation Tracking
  3. 3. Position & Orientation Tracking Block Optical Encoder Schematic/Hookup Diagram <ul><li>Optical Encoders </li></ul><ul><ul><li>IR Device which reads dark and light areas of a wheel on the motor shaft. </li></ul></ul><ul><ul><li>Data is used to calculate displacement & orientation. </li></ul></ul><ul><ul><li>Clever method of interface with the main controller… </li></ul></ul>
  4. 4. Position & Orientation Tracking Block Down Counter Up Counter CLK EN EN CLK A !A B <ul><li>By using PSOC Timer blocks for up/down counters the need to use software interrupts is gone! </li></ul><ul><li>The CPU can just check the count status of the timers to find the change since the last check. </li></ul><ul><li>Quarter Resolution Decoder </li></ul><ul><li>From Cypress App Note 2145 </li></ul>
  5. 5. Position & Orientation Tracking Block Digital Compass Schematic/Hookup Diagrams <ul><li>Digital Compass </li></ul><ul><ul><li>I2C Bus </li></ul></ul><ul><ul><li>Used to zero out accumulated error in orientation </li></ul></ul><ul><ul><li>Compass is a Honeywell HMC 6352 </li></ul></ul>
  6. 6. Battery Charger MAX 713 Battery Charger Schematic <ul><li>How it Works: </li></ul><ul><li>2 modes (fast & trickle) </li></ul><ul><li>Fast charge </li></ul><ul><ul><li>Regulate V Rsense to 250mV via Q2 duty cycle </li></ul></ul><ul><ul><li>Monitor battery voltage to determine when to switch to trickle charge </li></ul></ul><ul><li>Trickle charge </li></ul><ul><ul><li>Regulate charge current to fast charge current/8 to top off battery. </li></ul></ul>I fast = 250mV/Rsense
  7. 7. Main Controller/LCD <ul><li>PSOC </li></ul><ul><li>User Modules model various HW (Timers, UART, LCD, etc) </li></ul><ul><li>Control the Pinout of the final configuration for easier PCB layout. </li></ul><ul><li>User modules have fairly well written interfaces so most of the low level code is done for you. </li></ul>
  8. 8. Software Overview - Main Controller Initialize HW Check for Commands Do Commanded Action Command Received? Check Position Y N
  9. 9. Software Overview OI Initialize Wait for port select Wait for connection request Connect to vehicle Wait for command event Translate & Relay user command to vehicle Update Map Mapping/Position update? Disconnect Request Disconnect Y Y N N
  10. 10. Basic Tests <ul><li>Weight Requirements -> Scale Test </li></ul><ul><ul><li>W robot = W scott + robot - W scott </li></ul></ul><ul><li>Temperature Tolerance </li></ul><ul><ul><li>40 F -> Run Robot outside in weather colder than 40 deg (weather permitting) for 10 minutes or place robot in refrigerator for 10 minutes then exercise all HW while in fridge. </li></ul></ul><ul><ul><li>80 F -> Turn up the heat to ~85 deg F and test </li></ul></ul><ul><li>LCD Testing </li></ul><ul><ul><li>LCD should show ARM run mode, Position, Orientation, and Bluetooth Connection Status </li></ul></ul>Test Expected Actual Date LCD Report OK OK 3-23-08 Robot Weight < 10 lbs 3 lbs 2-5-08 Temp 40 deg F HW OK HW OK 2-16-08 Temp 80 deg F HW OK HW OK 2-16-08
  11. 11. Surface Detection Test <ul><ul><li>ARM was placed in a known environment with one surface more that 4 feet away from the vehicle. One wall must be at least 4ft from ARM. Mapping output is shown on the left versus dimensioned sketch of the area on the right. </li></ul></ul>
  12. 12. Bidirectional Square Path Test <ul><li>This test will determine how accurate the position and orientation tracking are. </li></ul><ul><li>Robot travels a predetermined square path in both directions a set number of times. </li></ul><ul><li>After each lap around the track the calculated position/orientation is compared to actual position/orientation and an error is computed </li></ul>
  13. 13. Bidirectional Square Path Test Results Dir Run X exp (cm) X actual (cm) Error (cm) Y exp (cm) Y actual (cm) Error (cm)  exp (deg)  actual (deg) Error (deg) CW 1 -6.1 0 +6.1 6.9 12.5 +5.6 90 95 +5 CW 2 -19.6 -5 +14.6 -7 13.5 +20.5 100 104 +4 CW 3 -6.4 1.5 +7.9 -22.3 15 +37.3 100 118 +18 CW 4 8.4 0 -8.4 -34 16 +50 80 147 +67 CW 5 49.3 1 -48.3 -36.1 12 +48.1 95 172 +77 CCW 6 4 2.5 -1.5 20.9 12 -8.9 90 95 +5 CCW 7 4.7 -2 -6.7 31.1 6 -25.1 90 116 +26 CCW 8 16 0.5 -15.5 31.6 15 -16.6 90 107 +27 CCW 9 7.2 1.2 -6 32.7 5 -27.7 90 113 +23 CCW 10 -1.7 0 +1.7 47.5 8 -39.5 90 130 +40
  14. 14. Software Functionality Tests <ul><li>Test Method: </li></ul><ul><li>Exercise all motion commands and data requests from OI </li></ul>Type Name Ok Date Command Motor Dir Y 2-5-08 Command Motor Speed Y 2-5-08 Command Turret Angle Y 2-5-08 Command CPU Reset Y 2-5-08 Request IR Data Y 2-5-08 Request Compass Data Y 2-5-08 Request ARM Info Y 2-5-08
  15. 15. Final Mapping Test Results
  16. 16. Budget Item Cost PCB Costs $66 Electromechanical $206.70 Sensors $197.38 Mechanical $254.31 Power (Batteries, etc) $75.70 Bluetooth $147.85 Prototyping Misc $141.61 LCDs $35.90 Motor Driver ICs $73.45 Other Parts (ICs, etc) $75.00 Shipping $176.99 Total $1450.89
  17. 17. Conclusions, Problems & Recommendations <ul><li>Overall Summary: </li></ul><ul><ul><li>Mapping accuracy is good at startup but begins to degrade over time due to errors in position/orientation tracking. </li></ul></ul><ul><ul><li>The time it takes the vehicle to complete a scan makes mapping while moving extremely difficult. </li></ul></ul><ul><li>Problems: </li></ul><ul><ul><li>Accurate Position & Orientation tracking is extremely difficult </li></ul></ul><ul><ul><li>due to mechanical issues. </li></ul></ul><ul><ul><li>The compass reading is very unstable when the motors are operating. </li></ul></ul><ul><li>Recommendations: </li></ul><ul><ul><li>Move the compass further away from the motors to reduce the magnetic interference from the motors. </li></ul></ul><ul><ul><li>Characterizing the movement of the Servo would make the mapping even more accurate. </li></ul></ul>
  18. 18. Demonstration Movie

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