2.  Problem/Need Statement  Concepts & Renderings  Requirements  User Interface  Market Survey  Risks  Schedule  Work Breakdown  Deliverables

3.  Problem – At the beginning of the project there was 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 and pan the head, eyes.

4. Provided by Isaak Moody

6.  F Req#001 – The head shall move front to back within a 90° arc of motion with a velocity that will be equivalent to 90° per second  F Req#002 – The head shall move left to right within a 90° arc of motion with a velocity that will be equivalent to 90° per second.  F Req#003 – Mouth motions shall be handled by two servos, with a 180 degree arc of motion.  F Req#004 – Eyebrows shall be handled by a single servo, with a 180 degree arc of motion.  F Req#005 – A camera shall be implemented within the head or body to provide visual feedback for processing by the operator.  F Req#006 – The eyes shall be able to move on two axes, with a 30 degree arc in each direction.

7.  NF Req#001 – The head shall look clean and nonthreatening, while retaining human-like attributes.  NF Req#002 – API shall be done within C#. Interfaces will be done in C#.  NF Req#003 – Movement of the head shall be smooth and well transitioned.  NF Req#004 – Motors shall be quiet and not distracting.  NF Req#005 – API shall follow format of existing arm API.  NF Req#006 – The microcontroller board shall be connected to our PC via serial or USB.  NF Req#007 – Servo wiring shall be twisted pair to maintain low noise emission.

8.  User-directed scripting for robot animations. › Record and playback scripts  Manually adjust each facial and neck part.  Adjust hardware related options.

9.  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

10.  Technical: › Servo controller/motor malfunction. › Difficulties integrating serial interface.  Financial: › Parts may exceed small budget. › Loss/denied funding for project/parts.  Schedule: › Shipping delays › Course work delays project tasks  Customer Acceptance › Not pleased with result/design and documentation › Solution might exceed budget

13.  Specific to the design of our head, there are few similar projects. › MIT  Mobile/Dexterous/Social “MDS” Nexi  Leonardo  Kismet › Philips Research  iCat › University of Hertfordshire  KASPAR

15.  Functional Decomposition  Specifications  Testing  Prototyping  Documents

17.  Two servos  0-180º < 1 second  Two degrees of freedom  Fits inside space provided on the chassis  Supports up to 4kg  Price: $299.88

18.  Operating Voltage: 4.8-6.0 Volts  Operating Speed (6.0V): 0.16sec/60° at no load  Stall Torque (6.0V): 56.93 oz/in. (4.1kg.cm)  Current Drain (6.0V): 8.8mA/idle and 180mA no load operating  Dead Band Width: 8usec  Motor Type: 3 Pole Ferrite  Bearing Type: Dual Ball Bearing  Gear Type: Nylon  Weight: 1.6oz (45.5g))  Price: $15.00

19.  Operating Voltage Range: 4.8-6.0 Volts  Operating Speed (6.0V): 0.15 sec/60° at no load  Stall Torque (6.0V): 333oz/in. (24kg.cm)  Idle Current Drain (6.0V): 3mA at stop  Current Drain (6.0V): 240mA/idle and 3.0 amps at lock/stall  Dead Band Width: 2usec  Motor Type: Coreless Carbon Brush  Bearing Type: Dual Ball Bearing MR106  Gear Type: Titanium Gears  Dimensions: 40 x 20 x 37mm  Weight: 2.29oz (65g)  Price: $115.00

20.  Operating Voltage Range: 4.8V to 6.0V  Operating Speed (6.0V): 0.11sec / 60 deg  Stall Torque (6.0V): 7.4kg / 112oz  Bearing Type: Dual Ball Bearing  Gear Type: Metal  Dimensions: 42.0 x 21.5 x 22  Weight: 32.0g / 1.12oz  Price: $20.00

21.  Operating Voltage: 4.8-6.0 Volts  Operating Speed (6.0V): 0.09sec/60° at no load  Stall Torque (6.0V): 23.5 oz/in. (1.7kg.cm)  Motor Type: 3 Pole Ferrite  Bearing Type: Top Ball Bearing  Gear Type: All Nylon Gears  Dimensions: 21.8 x 11 x 19.8mm  Weight:.27oz. (7.8g)  Price: $14.00 each

22.  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.  Dimensions: 1.4 in X 1.7 in  Price: $80.00

23.  Video capture : › Up to 640 x 480 pixels (VGA CCD)  Still image capture : › Up to 1280 x 960 pixels, 1.3 megapixels  Frame rate : › Up to 30 frames per second  Price: $50.00

24.  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 › Bench-Top Multimeter › Bench-Top DC Power Supply

26.  Software tools to allow for interaction with robotic head › RS-232 Instructions  Broad library › Easy to develop scripts › Implementation  Written in C#

27.  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.

28.  Robot Head class › Provides functions for controlling each servo (face, eyes, neck)  Graphical User Interface › Allow script building  Listbox – easy to manage and build scripts  Building facial positions (eyebrows and mouth) › Interface with controller  Allow for direct control of head  Mapping buttons to face emotions

30.  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.

31.  Simulations run as head was constructed  Several prototype versions › Plastic pieces not built to spec › Client’s desire to change final details

32.  Head can operated for 4+ hours  No program crashing in 4+ hours of continuous use  No overheating during 4+ hours  Some jitter still present in the eye tray  When head reaches outer bounds, servos start to rubberband

35.  Final Builds  Complications & Conclusions  Future Work

40.  Servos › Overheating › Stalling out › Jumping gears  Plastic › Not printed to spec  Software › Cross-communication between microcontrollers › Communication blocking during transmission to serial board

41.  Cameras  Microphones