1. Project OSCAR Octagonal Speech-Controlled Autonomous Robot ONGO-01

2. Project OSCAR Fall 2005 Client: Iowa State University Department of Electrical and Computer Engineering Faculty Advisor: Ralph E. Patterson III Presentation Date: October 20, 2005 EE Team Members Kevin Cantu EE 492 Jawad Haider EE 492 Robert Dunkin EE 491 Nicholas Hoch EE 491 CprE Team Members Jeff Parent CprE 492 Peter Gaughan CprE 491 Andrew Levisay CprE 491 Mike Mikulecky CprE 491 ME Team Members Lynn Tweed ME 466 Michael Snodgrass ME 466 David Brownmiller ME 466

3. Project OSCAR Presentation Overview Initial InformationJeff Project IntroductionJeff Description of ActivitiesJawad Resources and SchedulesKevin SummaryKevin

4. Project OSCAR List of Definitions OSCAROctagonal Speech-Controlled Autonomous Robot BX-24Microcontroller used to interface with SONAR system CVSConcurrent versions system CybotThe predecessor to OSCAR Drive trainThe assembly of electrically controlled motion elements, including the robot’s wheels, gears, belts, and tachometers End effectorThe electrically controlled mechanical arm and gripper GUIGraphical user interface I/OInput and output to a device PEELProgrammable Electrically Erasable Logic SONARSound navigation and ranging TachometerA device for indicating speed of rotation WikiAn internet based content management system for many users

5. Project Introduction Jeff Parent

6. Project Introduction Problem Statement General Problem Develop a robot and perform demonstrations to generate interest in the field and in the department. General Solution Approach An ongoing project was started to design a modular, autonomous robot which incorporates speech control, sonar sensors, and an end effector to interact with its surroundings and audience.

7. Project Introduction Operating Environment Indoors Flat surfaces, no downward stairs or drop-offs If obstacles must be 2.5 feet high

8. Project Introduction Intended Users and Uses Users Project OSCAR team members Supervised non-technical users Use: Demonstration to raise interest in the field and the department Autonomous navigation of a hallway Ability to pick up and place objects via the end effector Ability to speak Manual movement via wireless control software Control via spoken commands

9. Project Introduction Assumptions and Limitations Assumptions Demonstrations last less than one hour Technical supervisors present during operation Operators speak English and are familiar with control software Remote PC for robot control has the appropriate software and hardware Limitations Software must run in Mandrake Linux Speech commands are issued less than 15 feet away Sonar range is 15 inches – 35 feet Wireless Ethernet within 328 feet Must fit through a standard 30-inch doorway End effector must fit within top module

10. Project Introduction End Product & Deliverables A robot with working systems Power Drive Sensors Software End effector Documentation

11. Description of Activities Jawad Haider

12. Description of Activities Intro to OSCAR’s Systems Modular stackable system 4 Stages End effector Sonar Software & Voice Power & Drive

13. Description of Activities Power & Drive Drive System Wheels, gears, suspension Motors Motor controller Tachometer feedback Power System DC system DC/AC inverter Battery

14. Description of Activities Power & Drive: Fall 2005 Fall 2004, Spring 2005 Tachometer technology selected, circuit designed Fall 2005 Tachometer circuit to be implemented & tested

15. Description of Activities Software Computer PC Linux OS Speakers & microphone Serial ports Software Java-based control system C and Perl software for specific uses Client C# client software to run on Windows laptop 802.11b Wireless Ethernet connection

16. Description of Activities Software: Fall 2005 Previous semesters Software control system developed Client software developed Computer installed Fall 2005 Integrate voice control with software system Upgrade computer

17. Description of Activities Sonar Components 8 sonar transducers 8 sonar array modules 1 microcontroller Operation Multiplexing of I/O from the microcontroller to the array modules Angle coverage is satisfactory

18. Description of Activities Sonar System

19. Description of Activities Sonar: Fall 2005 Previous semesters System designed, installed, debugged, repaired Future semesters Sonar data must be integrated with software motion control system for autonomous navigation

20. Description of Activities End Effector An arm for OSCAR to use in interacting with his environment Gripping Lifting Collaboration with mechanical engineering department through ME 466

21. Description of Activities End Effector: Fall 2005 Structural Previous semesters Designed device Procured materials Fall 2005 Manufacture of parts Electronic Previous semesters Selected technology to be used, highest level design Fall 2005 Develop specific design Test portions of actuator control, I/O Future semesters Implement and test complete end effector control system

22. Resources and Schedules Kevin Cantu

23. Resources and Schedules: Fall 2005 Personnel Effort Requirements End effector control circuit design Tachometer implementation Speech system development Visitor demonstrations Documentation project Senior Design reporting TOTAL HOURS: 1013

24. Resources and Schedules: Fall 2005 Other Resource Requirements End effector Structural materials, machining – donated Motors – salvaged Electronics – purchased Tachometer Electronics – purchased Speech Software – free Operating system – free Computer – donated (if possible) Documentation Wiki – free, donated Printing & binding – purchased TOTAL COST FALL 2005: $700

25. Resources and Schedules: Fall 2005 Financial Requirements Fall 2005 Projected cost of materials: $700 Projected cost of labor at $10.50 per hour: $10,636.50 Fall 2005 Projected Total: $11,336.50 Previous Semesters Spring 2005: $6,000-9,000 Fall 2004: $9,000-13,000 Spring 2004: $12,000 Fall 2003: $15,000 Spring 2002: $10,000-16,000 Fall 2001: $11,000-17,000 Estimated Overall Total, Spring 2001- Fall 2006: $113,000

26. Resources and Schedules: Fall 2005 Project Schedule

27. Summary Kevin Cantu

28. Project OSCAR: Summary Lessons Learned What went well New team member orientation to complex system What did not go well Implementing tachometer design Initial team progress: late start this semester What technical knowledge was gained Electronic, mechatronic and control systems Linux software development

29. Project OSCAR: Summary Lessons Learned What non-technical knowledge was gained Project management experience Documentation methods, skills, and the importance therof Presentation skills Interdisciplinary engineering interaction What would be done differently Better teaching of new team members Better completed and organized documentation

30. Project OSCAR: Summary Risks and Risk Management Anticipated potential risks Part ordering delays Documentation problems Personal injury Loss of a member Anticipated risks encountered Part ordering delays Documentation problems Loss of a member: to an internship in Fort Calhoun, NE

31. Project OSCAR: Summary Risks and Risk Management Unanticipated risks encountered Long term loss of faculty advisor Software malfunction Lost knowledge Resultant changes in risk management More sophisticated documentation Emphasis on shared knowledge

32. Project OSCAR: Summary Closing Still in overall implementation stage – autonomy is incomplete Continued demonstrations have been effective in developing team member abilities Future should involve Finalizing OSCAR system Satisfying department needs through further robot development projects

33. Project OSCAR Questions? http://seniord.ee.iastate.edu/ongo01