What are the advantages and disadvantages of membrane structures.pptx
Final presentation today
1. Autonomous Hexapod
Object
Recognition
presented by
Ninjaneers
Nahid Mosharraf
Supreet Singh
Tabassum Azad
Nusrat Lima
with
2. Agenda
Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
1
• Objectives/Abstract
• Timeline
• Analysis and Requirement
• Changes in Design
• Implementation and test
• Budget
• Project Demonstration
• Conclusion
3. Objective
Objective:
To build a hexapod that can overcome limitations of
Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
2
other mobile robots.
4. Requirements
Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
3
• Requirements:
Autonomous movement.
Visual recognition of an object through the
ultrasonic sensor and camera
Functional gripper to pick up and move objects
Motion provided by the servo motors, integrated
through the servo controller and Raspberry Pi
5. Timeline
Power Consumption 4/17/2014
Mechanics
4/5/2014
Gait Generation 4/14/2014
Image Processing4/20/2014
5/7/2014
Project Start
3/3/2014
Original Project End
Date: 12/10/2014
Project End
12/07/2014
2014 Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec 2014
Preparation/Research 7/5/2014 - 8/01/2014
Parts Ordering 8/01/2014 - 8/23/2014
8/23/2014 - 9/15/2014
Prototype
Development/Construction
Function Analysis 9/2/2014 - 9/15/2014
Programming Visual Recognition 8/24/2014 - 9/23/2014
Testing of camera with
programming code
9/24/2014 - 10/05/2014
Testing of servos and legs 10/07/2014 - 10/24/2014
Prototype Testing 10/07/2014 - 11/05/2014
Prototype Analysis 10/07/2014 - 11/10/2014
Product Development 10/26/2014 - 11/14/2014
Feasibility Analysis/Sales Analysis 11/6/2014 - 11/25/2014
Roll-out/Product Lauching 12/1/2014 - 12/7/2014
Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers 25
6. Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
3
Design
Original Conceptual
Design
Actual Design
Figure 1.2 : Actual Real Life Hexapod
Model
Figure 1.1 : Generated
3D virtual Hexapod Model
7. Autonomous Hexapod with Color-Based Object Recognition
Presented by: Ninjaneers
3
Control System Layout
SimpleCV Python
Framework
Raspberry pi
Raspberry Pi
SS32 Servo-
Controller
GE 1.3 MP
MiniCam Pro
WebCam
1 Ultra-sonic
sensor
18 GWS
Standard
S03T STD
Servos
1 GWS Standard
S03T STD
Servo for the
Gripper
Actuators
Sensors
Processing
Output
Hexapod
decisions(MOVE
MENTS)
8. Program Flow
Start
Object
Found?
Yes
Autonomous Hexapod Object Recognition
Presented by: Ninjaneers
No
Keep Turning Until
Object is Found.
Keep Turning Until Object
is Found
• Read Distance from
Ultrasonic-sensor
• Process image from
camera
Is object
displaced?
Yes
Do Nothing
No
Walk to
object
Gripper
Picks up
object
Walk to specified
location
This flow chart illustrates
the overall programming
Procedure for the system.
Gripper
Places
Object
END
9. 3 Shapes 1 Object
Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
4
Design Changes
Original Conceptual
Design
Actual Design
10. Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
5
Why SimpleCV?
What is SimpleCV?
SimpleCV is an open source Python Framework for Computer
Vision applications.
Reasons why we decided to implement SimpleCV with our
hexapod because :
It allows access to several high-powered Computer Vision
libraries such as OpenCV with having in depth knowledge about
Computer Vision.
Since it is an open source Python Framework, we were able to
write and implement the Python scripts on SimpleCV.
11. Design Changes
Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
4
Other Changes includes:
1. Rotational Camera changed to non-moving camera
2. Metal Chassis and Frame VS Acrylic Frame
3. GE Mini webcam Pro VS Android phone
12. Implementation and Test
Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
5
• Test and implementations were done using:
• Voltmeter
• Regulator
• Breadboard
• Raspberry Pi
• Ultrasonic Sensor
Figure 8.1 : Testing the Volt regulator to even
distribute 12V to the controller while providing 5V to the raspberry Pi
13. Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
4
Ultrasonic Voltage Divider
Circuit
Figure 8.2 : Testing of Voltage regulator
with Raspberry Pi
14. Autonomous Hexapod with Object Recognition
Presented by: Ninjaneers
6
Budget
Component Price (USD) Source
Aluminium Chassis
81.90
http://www.aliexpress.com/store/product/18DOF-Aluminium-
Hexapod-Spider-Six-Legs-Robot-Kit-w-18pcs-Servo-Horn-Ball-Bearing-
Fully-Compatible/1391641_2013606295.html
Sunlite 07625-SU E176/R Electrical Tape, Red 4.99
http://www.amazon.com/gp/product/B009XS1HIY/ref=ox_ya_os_prod
uct_refresh_T1
1x 32 Channel Servo Controller 35.00
http://www.aliexpress.com/item/32-road-steering-gear-control-32-
way-controller-servo-control-board-servo-controller-can-sue-with/
1576725795.html
20 x MG995 Metal Gear High Torque Servo 103.50 http://www.aliexpress.com/item/-/1627072840.html
Spare Robotic Claw for Medium Servo Robot Arm for
13.20
Arduino & other projects EM#01
http://www.ebay.com/itm/380881914739?_trksid=p2059210.m2749.l
2649&ssPageName=STRK%3AMEBIDX%3AIT
1pc, 3 x C Size Cell Battery Holder Box 4.5V Case With Wire
Lead UM-2X3,6122
3.32
http://www.ebay.com/itm/121350399950?_trksid=p2059210.m2749.l
2649&ssPageName=STRK%3AMEBIDX%3AIT
6 x C size 1.2V 9500mAh Ni-MH rechargeable battery Red 15.21
http://www.ebay.com/itm/201043877106?_trksid=p2059210.m2749.l
2649&ssPageName=STRK%3AMEBIDX%3AIT
1x HC-SR04 Ultrasonic Sensor 1.90 http://www.aliexpress.com/item/-/1667054813.html
1x GE 98756 Mini Cam Pro 4.95 http://www.amazon.com/GE-98756-Mini-Cam-Pro/dp/B000HHUORK
9v Battery 3.99
http://www.bedbathandbeyond.com/store/product/duracell-9v-battery-
single-pack/
1010764114?mcid=PS_googlepla_nonbrand_electronicstoys_&ad
pos=1o1&creative=39230281429&device=c&matchtype=&network=g&
gclid=CK2m6Ji6vcICFe7m7AodL1AAUA
Total 267.85
*Prices include shipping and handling costs
