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City College of New York 1 John (Jizhong) Xiao Robotics and Intelligent Systems Lab Department of Electrical Engineering City College of New York Tel:

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Presentation on theme: "City College of New York 1 John (Jizhong) Xiao Robotics and Intelligent Systems Lab Department of Electrical Engineering City College of New York Tel:"— Presentation transcript:

1 City College of New York 1 John (Jizhong) Xiao Robotics and Intelligent Systems Lab Department of Electrical Engineering City College of New York Tel: Website: Robotics Research at CCNY

2 City College of New York 2 Current Projects NSF MII Planning Project: –Center of Perceptual Robotics and Intelligent Systems (PRISM Center at CCNY) –Funding Agency: NSF Minority Institutional Infrastructure Program Wall-climbing Robot project –Funding Agency: Army Research Office Smart Brain project –Funding Agency: NSF Major Research Instrument Program

3 City College of New York 3 Wall-climbing Robot Project Project Title: –Cooperative Wall-climbing Robots in 3D Environments for Surveillance and Target Tracking The objective: –develop a modular, re-configurable, wall-climbing robotic system and to investigate intelligent control methods and vision algorithms to control and coordinate a team of such robots to perform various defense, security, and inspection missions. Principle Investigators: –John Xiao (EE), Zhigang Zhu (CS) –Ali Sadegh (ME)

4 City College of New York 4 Wall-climbing Robot Project Dream: –transform the present 2-D world of mobile rovers into a new 3-D universe. –move on ground, climb walls, walk on ceilings, transit between surfaces. Applications: –Urban warfare applications: surveillance and reconnaissance, weapon delivery, guiding perimeter around a building, etc –Security and counter-terrorist applications: intelligence gathering about a hostile situation within a building, etc. –Inspection and maintenance applications: routine inspection of buildings, nuclear containment domes, and other hard-to- reach places, inspection of aircraft, sand blasting of ship hulls, etc. –Other Civilian applications: assistance in firefighting, search and rescue operations, etc.

5 City College of New York 5 Wall-climbing Robot Project Challenges: –Adhesive mechanism strong attraction force on various wall surfaces (brick, wood, glass, stucco, plaster, and metal) without sacrificing mobility –Transition Mechanism wheeled robot to achieve quick motion articulated structure for smooth transition modular design combine two –Control/coordination of multiple robot modules –Vision research for surveillance applications

6 City College of New York 6 Existing Technologies and Robots Existing Technologies –magnetic attraction devices –vacuum suction techniques –biologically inspired gecko foot limbed devices –aerodynamics attraction vortex attraction technique attraction generated by propeller

7 City College of New York 7 Existing Technologies and Robots Existing wall-climbers: MSU “Flipper” & “Crawler”JPL-Stanford rock climber Avionic Instruments Inc. Vortex attraction technique iRobot’s Mecho-Gecko CMU gecko inspired climber

8 City College of New York 8 Wall Climber: Adhesive Mechanism Design alternatives: –vacuum pumps (MSU climber) –vortex attraction device –vacuum rotor package

9 City College of New York 9 Wall Climber: Vacuum Chamber Seal Inflated Tube Skirt Seal Flexible Bristle Skirt Seal attraction force is so strong that it anchored the device to wall surfaces trade-off between sealing and mobility

10 City College of New York 10 Wall Climber: Selected Design Selected Design –vacuum rotor package –flexible bristle skirt seal –differential drive –pressure force isolation rim (re-foam) improves mobility, & enhances sealing by reducing the deformation of the skirt

11 City College of New York 11 Wall Climber: Transition Mechanism Modular Design Four wall-climber modules are configured to form a larger wall-climbing robot which can carry heavy payload Transition Mechanism

12 City College of New York 12 DSP-based Control System Actuator and sensor suite TMS320F2812 DSP from Texas Instruments Inc. 32-bit Processor Target for control applications

13 City College of New York 13 Wall Climber: Software Structure

14 City College of New York 14 CCNY Wall Climber Prototypes Prototype III, vacuum rotor package Prototype II, inflated tube seal Prototype II, flexible bristle skirt seal Prototype I, vortex attraction

15 City College of New York 15 CCNY Wall Climber Prototypes Video

16 City College of New York 16 Smart Brain Project Project Title: –Smart Re-configureable Miniature Robot Systems Based on System on Programmable Chip Technology –NSF MRI Instrument Development The objective: –to develop highly-adaptive computation module based on SoPC technology (FPGA) for ultra-small robots –to realize onboard sensor processing, advanced motion control, and reliable wireless communication Principle Investigators: –Umit Uyar (EE), John Xiao (EE)

17 City College of New York 17 Project Overview FPGA technology –programmable logic  programmable systems –integrate FPGA logic, embedded high-performance processors, digital signal processor (DSP) blocks, and multi-gigabit transceivers, making FPGA a versatile technology for high-end research and commercial products. FPGA Device Features –Xilinx Virtex-II Pro family FPGA device –two 32-bit IBM PowerPC 405 cores –FPGA logic, DSP blocks –10M of block RAM, off-chip memory as a gap-stop measure –Xilinx Intellectual Property (IP) Core library

18 City College of New York 18 Project Overview Benefits –flexibility, reconfigureability hardware reconfigureable, software reprogrammable –hardware/software partitioning high-speed logic implementation in FPGA fabric & high-flexibility software code in Power PC –IP core library to achieve basic robotic functions pre-verified, reusable satisfy the requirements for control, communication, and onboard vision processing capability of miniature robots

19 City College of New York 19 FPGA-based Multiprocessor A processor-centric architecture FPGA fabric is used for custom logic and interfaces. Single board FPGA- based multiprocessor for robotics applications

20 City College of New York 20 Recent Progress Logic design for motor control (PWM, encoder reading) Demonstration of virtual backbone concept for reliable server pooling Virtex-II Pro ML300 Evaluation board

21 City College of New York 21 Thank you!


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