1. DEVELOPMENT OF A ROBOTIC TANK, BASED ON A SMART CAMERA SUBMITTED BY: DANIEL ALON AND AVIAD DAHAN SUPERVISED BY: OREN ROSEN CRML 2012

2. TABLE OF CONTENTS Background Stages of the Project - Training & Preparations - Design & Architecture - Generating PWM Signal - Implementation of a Close-loop movement - Video Display & Processing - Semi-Autonomous movement & tracking Future Development Summary Live Demonstration 2

3. BACKGROUND - OUR INSPIRATION The Mars Rover: 3

4. BACKGROUND - OUR GOAL Developing a Robotic Tank based on National Instruments Hardware and Software with Semi-Autonomous abilities. 4

5. BACKGROUND – THE INNOVATION Image Processing – utilizing a NI smart camera Control – first smartphone controlled project in the EE faculty State of the art technology 5

6. STAGES OF THE PROJECT Training & PreparationsDesign & ArchitectureGenerating PWM SignalImplementation of a closed-loop movementVideo display & processing Semi Autonomous Movement & Tracking 6

7. TRAINING & PREPARATIONS Thoroughly investigating LabVIEW, which is the Project’s development environment. Learning the FPGA, Real Time, and Robotics Modules of LabVIEW. Studying the image processing module of National Instruments – NI Vision assistant. 7

8. DESIGN & ARCHITECTURE - THE ROBOTIC TANK Traxter II by Robotics Connection: 8

9. DESIGN & ARCHITECTURE TRAXTER II 9 AdvantagesDisadvantages Motors have 1:52 gear ratio – very swift and can carry large weight. A tank-like robot - Tracks instead of wheels, better traction. Very small compartment cabin – no place for a large power supply. Tracks are made out of plastic – not intended for all terrain.

10. DESIGN & ARCHITECTURE- THE CONTROLLER National Instruments SB-RIO 9631: 10

11. DESIGN & ARCHITECTURE - THE CONTROLLER Controller Attributes: 266 MHz processor, 128 MB nonvolatile storage, 64 MB DRAM for deterministic control and analysis. Integrated 1M gate reconfigurable I/O (RIO) FPGA for custom timing, inline processing, and control. 110 3.3 V (TTL/5 V tolerant) DIO lines, 32 16-bit analog inputs, four 16-bit analog outputs. 11

12. DESIGN & ARCHITECTURE - THE CONTROLLER Controller Attributes: 10/100BASE-T Ethernet port and RS232 serial port, 19 to 30 VDC supply input. Easily embedded in high-volume applications that require flexibility, reliability, and high performance. Ideal for low- to medium-volume applications and rapid prototyping. 12

13. DESIGN & ARCHITECTURE - THE CAMERA NI 1742 Smart-Camera: 13

14. DESIGN & ARCHITECTURE - THE CAMERA Camera Attributes: Monochrome 640 x 480 SONY CCD image sensor. 533 MHz PowerPC processor. Video capturing at up to 60 frames per second. Quadrature encoder support, optoisolated digital I/O, and dual Gigabit Ethernet. 14

15. DESIGN & ARCHITECTURE - THE CAMERA Camera Attributes: Program with LabVIEW Real-Time Module or configure with Vision Assistant. Highly compatible with Vision Assistant Easy to use stand-alone, real time programming environment for vision applications. 15

16. DESIGN & ARCHITECTURE - COMMUNICATION Done By a Wireless router. Each component has a static IP. 16

17. DESIGN & ARCHITECTURE - POWER SUPPLIES Three 11.1 Volt Li-Po Batteries which located in the compartment cabin underneath the robot. Power requirements : 17 Current requirement Voltage requirement Device 1 A7-12 VMotors 1 A12 VRouter 1 A19-30 VController 3 A24 VCamera

18. DESIGN & ARCHITECTURE Final Block Diagram of the Solution: 18 driver controller driver Motor LMotor R Encoders router camera Ethernet console Wi-Fi Smartphone Wi-Fi PWM

19. DESIGN & ARCHITECTURE The Result: 19

20. GENERATING PWM SIGNAL In order to control the motors, a PWM signal is being generated. PWM is described as followed: A square wave with a fixed cycle time and amplitude is being set. The duty cycle of the wave is proportional to the power that we want to deliver to the motors. 20

21. GENERATING PWM SIGNAL 21

22. IMPLEMENTATION OF A CLOSED-LOOP MOVEMENT Android based Smartphone sends gyrometer and accelerometers signals to the SB-RIO controller, via Wi-Fi. The messaging protocol between the smartphone and the SB-RIO controller is OSC. The data from the smartphone is being processed in the controller and being translated into a PWM signal. The motors are responding according to the PWM signal. 22

23. THE USER INTERFACE 23

24. VIDEO DISPLAY & PROCESSING Our target is a black circle. based on the robot’s pose, the circle may be interpreted as an ellipse. Using the NI Vision Assistant, a Real Time ellipse detection algorithm was written. The image processing algorithm is implemented on the camera. The output is shown on the console’s monitor via LabVIEW VI. 24

25. VIDEO DISPLAY & PROCESSING 25

26. SEMI AUTONOMOUS MOVEMENT & TRACKING The algorithm: 26 Scan Lock Act

27. FUTURE DEVELOPMENTS & POSSIBLE USES Sequel project in CRML – An autonomous, smartphone controlled robot for indoor mapping. Power consumption All-Terrain mobilty Military uses. Research uses. 27

28. SUMMARY Multidisciplinary First smartphone & hardware project in EE faculty Ease of implementation State of the art technology Wrapping up 28

29. APPRECIATIONS & THANKS Oren Rosen – Supervisor. Kobi Kohai – CRML Lab Engineer. Orly Wigderson - CRML Lab Practical Engineer. Eran Castiel - National Instruments Israel. 29

30. ANY QUESTIONS? 30

31. THANK YOU! 31

32. LIVE DEMONSTRATION 32