1. Saint-Petersburg State University of Aerospace Instrumentation Robot Phoenix-1 Design Authors:Goncharov A. Miheev A. Jan 2007

2. Introduction 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 Project “Phoenix-1” was started 02/04/05 and was realized by mixed student and engineer team during autumn semester. Backbone of team is formed from students (4221 and 4022 student groups) and engineers of Student Design Center of SUAI. Mobile robot PHOENIX-1 orients in external environment with web-cam and has to follow a white stripe of the arbitrary shape

3. Control System of Robot 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 Left and Right Motor Control Bridges RS-232 Web- camera Laptop Toshiba Controller ASK-Lab Rotation Speed Sensor -1 Rotation Speed Sensor -2 Actors Sensors High level Low level Laptop gets video images from web-camera and processes them. Controller gets data from speed sensors and sends them to laptop by RS-232 using protocol ASK-Bus 3.1. Backwards controller receives control commands from high-level program. Controller converts this control commands into executive signals to actors: PWM left, PWM right, Direction of rotation left, Direction of rotation right.

4. ASK-Lab Controller Architecture 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 LCD P18 МS P18 SL P18 SL P18 SL OPTO DECOUP OPTO DECOUP OPTO DECOUP OPTO DECOUP ALTER A RTC I2C Keyb D I/O D I/O A/D I/O D I/O CANbus 2.0 USART RS232 RS422 RS485 CANbus 2.0 USART RS232 RS422 RS485 CANbus 2.0 USART RS232 RS422 RS485 CANbus 2.0 USART RS232 RS422 RS485 CLK RST supervisor RST Q, 32.768 Q, 20MHz BAT 3V MULTIPROCESSOR ARHITECTURE - FOUR PIC18F458 CONNECTED WITH I 2 C CONTROLLER HAS FOUR EXTERNAL OPTO DECOUPLED BUSES FOR INDUSTRIAL INTERFACES LIKE RS232 / RS422 / RS485 A LOT OF PINS (ANALOG, INTERRUPT INPUTS, DIGITAL I\Os, PWM OUTPUTS) GIVE POSSIBILITIES TO HAVE LARGE AMOUNT OF PERIPHERY DEVICES

5. ASK-Lab Controller Appearance 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 PIC Optron Interface Chip LED Buttons ASK-Lab Controller Interface and Power Module ASK-Lab controller is a universal solution for wide application area.

6. IDE “Constructor A3” 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 DEVELOPER INTERFACE “Constructor A3” IDE MPLAB (Microchip,USA) MPLAB Standart Developer Interface System Libraries User Realloc- catable code APPLICATION GENERATOR “Constructor A3” System RTmOS A3 Kernel User Software Interrupt level ASK BUS 3.1 I2C Task manager User Application Codes Device drivers Automatic Generated Code Microchip assembler High level algorithm description ; high prior form {RSi} task {USARTRecTimer} prior {high} period {5} cond {} ; low prior form {RSi} task {USARTRecInt} prior {low}maxdur {10} from {RSo} task {USARTSendInt} prior {low}maxdur {10} ; background form {RSi} task {USARTRec} prior {back} maxdur {10} cond {EnableFlag} from {RSo} task {USARTSend} prior {back} maxdur {10} cond {!(RunFlag)} Librarian Inter Task Information Exchange Viewer TARGET HARDWARE

7. Radio Control - 1 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 1.Operator sees robot by his own eyesight and control movement of robot by control console by RF channel. 2.Operator’s control commands are transmitted to robot’s controller, where they are converted to executive signal to actors (motors). 3.Video from camera and sensors signals are written to laptop’s HDD. 4.Later, the saved video and sensors information are used to teach neuron.

8. Radio Control - 2 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 1.Video from camera is compressed and transmitted to operator’s PC by Wi-Fi. Simultaneously, video and sensors signals are written to laptop’s HDD. 2.Operator sees video image and uses joystick to move the robot. 3.Operator’s control commands are transmitted to robot’s laptop and are converted to executive signal for actors (motors). 4.Later, the saved video and sensors information are used to teach neuron.

9. Screenshots of High-Level Software 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 Robot’s software Operator’s software

10. Photos of Phoenix-2 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 Inside Phoenix - 2Phoenix-2 and control console

11. Demonstration 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 Demonstration

12. Contacts 24.01.2007: Phoenix-1 1 2 3 4 5 6 7 8 9 10 11 Goncharov Alexander 5 course student Email: go-shurik@yandex.ru Miheev Aleksey 5 course student Email: miheev@aanet.ru