 Problem/Need Statement  System Requirements  System Analysis  Functional Decomposition  Concept Renderings  Market Survey  Risks

 Problem – Currently there is a robotic frame with two mobile robotic arms, but a static shell for the head.  Need – The head needs to be capable of showing human-like facial emotions and movements. › Smile, frown, frustration, etc; › Tilt, roll, and pan the head.

 The head shall look clean and nonthreatening, while retaining human-like attributes.  The head shall pitch, roll and yaw within a 90º, 90º, 90º arc of motion within a user specified duration.  Movement of the head shall be smooth and well transitioned.  The mouth and each eyebrow shall be handled by a single servo, with a 180º arc of motion within a user specified duration.  Motors shall be quiet and not distracting.

 Microphones shall be used to listen for human speech and object interaction noise within three meters of the robot while distinguishing between ambient noise and human voice.  A camera shall be implemented within the head or body to provide/process visual feedback.  The microcontroller board shall be connected to a PC via serial or USB.  Servo wiring shall be twisted pair (to maintain low noise emission).  API shall be done within C/C++. Interface will be done in C#.

 A single RS-232 Servo Controller will handle all pulse width control signals to all eight servos.  A power supply will have enough power for all servos and controller  Programming will provide user communication to controller.

Provided by Alex Stoytchev

 There are a very limited amount of projects/products similar to ours.  MIT does have a comparable project that is focusing on environmental interaction, and is replete with eyebrows, eyes, mouth and neck.

 Technical: › Servo controller/motor malfunction. › Difficulties integrating serial interface.  Financial: › Parts may exceed small budget. › Loss/denied funding for project/parts.

 Schedule: › Shipping delays › Other course work delays project tasks  Customer Acceptance › Not pleased with result/design and documentation › Solution might exceed budget

 Hardware specification  Software specification  User interface specification

 Three servos  0-180º < 1 second  Three degrees of freedom  Easily Fits inside space provide on the chassis  Supports up to 4kg  Price: $60.00

 Control System: +Pulse Width Control 1500usec Neutral  Required Pulse: 3-5 Volt Peak to Peak Square Wave  Operating Voltage: Volts  Operating Temperature Range: -20 to +60 Degree C  Operating Speed (4.8V): 0.24sec/60° at no load  Operating Speed (6.0V): 0.20sec/60° at no load  Stall Torque (4.8V): oz/in. (7.7kg.cm)  Stall Torque (6.0V): oz/in. (9.6kg.cm)  Operating Angle: 45° one side pulse traveling 400usec  360 Modifiable: Yes  Direction: CW/Pulse Traveling 1500 to 1900usec  Current Drain (4.8V): 8.8mA/idle and 350mA no load  Current Drain (6.0V): 9.1mA/idle and 450mA no load  Motor Type: 3 Pole Ferrite  Potentiometer Drive: Indirect Drive  Bearing Type: Dual Ball Bearing  Gear Type: 3 Metal Gears and 1 Resin Metal Gear  Connector Wire Length: 11.81" (300mm)  Dimensions: 40.6 x 19.8 x 37.8mm  Weight: 1.94oz. (55.2g)  Price: $40.00 each

 Control System: +Pulse Width Control 1520usec Neutral  Required Pulse: 3-5 Volt Peak to Peak Square Wave  Operating Voltage: Volts  Operating Temperature Range: -20 to +60 Degree C  Operating Speed (4.8V): 0.10sec/60° at no load Operating Speed (6.0V): 0.09sec/60° at no load  Stall Torque (4.8V): 20.8 oz/in. (1.5kg.cm)  Stall Torque (6.0V): 23.5 oz/in. (1.7kg.cm)  Operating Angle: 45° one side pulse traveling 400usec  360 Modifiable: No  Direction: CCW/Pulse Traveling usec  Motor Type: 3 Pole Ferrite  Potentiometer Drive: Indirect Drive  Bearing Type: Top Ball Bearing  Gear Type: All Nylon Gears  Connector Wire Length: 12”  Dimensions: 21.8 x 11 x 19.8mm  Weight:.27oz. (7.8g)  Price: $14.00 each

 Max packet size: 59 bytes  Max control rate: 15 instructions / second  74% available bandwidth used worst case  1 to 8 servos per board with 8-bit resolution  <1° of servo position precision resolution  Servo port can be reconfigured for digital output to drive on/off devices.  Interface to PC through RS232 Serial port (2400 to baud).  User definable board ID number (allowing multiple boards to share same serial line).  5-Ch, 8-bit A/D input port for reading Volts. (Control servo positions via Joystick/Pot)  Dimensions: 1.4 in X 1.7 in  Servo Connectors: 3 pin J-type connectors.  Power supply: 7V-15V  Price: $80.00

 MIC Type: Gooseneck  Element: Back electret condenser  Polar Pattern: Cardioid  Impedance: 250Ω  Frequency: 50 Hz to 18 kHz  Sensitivity*: -65 dB +/- 3dB  Max 1% THD: >130 dB  S/N Ratio: >65 dB  Phantom Voltage Req: 9V – 52V DC  Connector: XLR Male  Dimensions: 18-1/4" L x 3/4" Dia.  Product Weight: 4 oz.  Material: Cooper  Finish: Non-glare black finish  Price: $80.00 *(0dB=1V/BAR 1,000 Hz indicated by open circuit)

 Sensor: CMOS VGA sensor technology  Resolution: Motion Video: 640 x 480 pixels video  Still Image: 1.3 megapixel (1280 x 960 pixels, interpolated) photos  Field of View: 55° diagonal field of view Automatic face tracking Digital pan, tilt, and zoom Manual focus  Price: Already provided

 Servos › Function Generator › Oscilloscope › Bench-Top DC Power Supply  Microcontroller Board › Oscilloscope › Computer with serial connection › HyperTerminal Communication Software › Bench-Top DC Power Supply  Power Supply/Voltage Divider › Bench-Top Multimeter › Bench-Top DC Power Supply

 Frame (Eye Tray) › Completed frame and servo assembly › Working serial computer communication › Final testing stage  Frame (Aesthetic Plate Attachment) › Completed frame and servo assembly › Final testing stage  Neck Joints › Completed head with plates attached › Working serial computer communication

 Theoretical: › Expression-Movement Mechanics (SolidWorks)  Physical: › Expression-Movement Mechanics › Aesthetic plate connections

Drawn with the assistance of Robert Peck

 Software tools to allow for interaction with our robotic head › RS-232 Instructions  Broad library › Easy to develop scripts › Implementation  Written in C › Accommodate robotic arm code

 Broad functions that allow for full movement control › Each servo is controlled and receives feedback from microcontroller.  Descriptive functions › Anticipate future changes › Easy to read and use  Command hierarchy › Reduce redundant code › Stable functions › Easy to create new functions.

 Unit Testing: › Test each software component. › Ensure each component works to design.  Software System Testing: › Manual test using HyperTerminal › Ensure system works to design.  User Validation › Ensures design overall correctness.

 User-directed scripting for robot animations. › Save and open scripts  Manually adjust individual facial and neck parts.  Easy-to-use tabs for different aspects  Adjust hardware related options.  Image provided to allow judgment of ending animation (with preview button).

 To create animations for head  To create a clean, easy to understand interface  To create a stable interface with: › Proper error reporting › Feedback for the user › Crash acknowledgement