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Ambassador Assisting Robot for Armstrong Hall RoScoE:Robot of the School of Engineering

Senior Project PresentationHarrison Billmers

Mike DiMeoAndrew Specian

Advisors: Dr. Yunfeng (Jennifer) WangDr. Orlando Hernandez

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Design Objective

Background: Tours of Armstrong are vital in recruitment… it Can Be Extended Multimedia DisplayInsight into Facilities and CapabilitiesObjective: Design a collaborative robotic platform to aid in recruitment.

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Ambassador Assistant

Hello My Name Is

RoScoE

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Design Requirements and Features

Safety! Multimedia InteractionBody Language Facial ExpressionsSpeech Output Approachable & Friendly AppearanceMobile Expandable

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Assisting Robot Functions

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Safety Standards

Robot Safety:◦OSHA[1]- Robotics

Awareness Barrier Device Presence Sensing Devices Emergency Braking Audible/Visual Warning Controls that initiate power or motion are

constructed and guarded against accidental operation.

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Evaluate Work Environment

RIA: Collaborative Robotic Standards

http://www.plantengineering.com/industry-news/top-stories/single-article/safety-and-control-in-collaborative-robotics/6fec60e21f303fa660c81bb2584236f8.html

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Tour Safety

Shared Space Safety◦Stop motion in shared space◦Plan tour positions with safety in mind

RWal

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Tour Planning

Key points Undergraduate

Institution. Wide variety of research

and design projects More ideal classroom

size (18-24 students) Interdisciplinary projects MUSE Program State of the art

equipment

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Mike

Safety! Multimedia InteractionBody Language Facial ExpressionsSpeech Output Approachable & Friendly AppearanceMobile Expandable

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Wheel Arrangement

Hilare-type configurationForward/Reverse direction functionality0o turning radiusStability during operation

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Motor Selection

102 lb-ins torque94 RPMMax speed of 6 ft/s13.98 A, 12V 19.1:1 gear reductionWeigh approximately 14 lbs.

Dayton 1Z831 Gearmotor

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Frame Design

Aluminum 6063 T-6 Tubing6061-T6 PlatesTotal height of 4.5 ftLow center of massVertical HDPE shelf

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Body AppearanceMori, M.; MacDorman, K.F.; Kageki, N., "The Uncanny Valley [From the Field]," Robotics & Automation Magazine, IEEE , vol.19, no.2, pp.98,100, June 2012

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Senior Project II

Dolly systemImplementing vibration isolation to

electronicsMounting of arms and headDesign and manufacture of exterior body

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Gantt Chart

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Andrew

Safety! Multimedia InteractionBody Language Facial ExpressionsSpeech Output Approachable & Friendly AppearanceMobile Expandable

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Arm Design Considerations

DoFsActuation TypeMaterial Selection

[1]

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Arm Degrees of Freedom

Human Ambassador: 5Average Conducting Robot: 2-3Conduction Robot Exception: 4

Decision: 3

• Most Ambassador Arm Motions• Reduce Weight• Extra Servos• Power Consumption

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Final Selection

Figure 1: Three arm positions with DOF points displayed.

Elbow-Servo 3 Shoulder Rotator-Servo 2 Wing-Servo 1

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Actuation Decision Matrix

ControlDifficulty

Cost DesignDifficulty

Return on Complexity

Total

DC Motor 1 3 2 3 9Servo 3 3 3 2 11Piston 2 1 1 3 7

Scale ___ Option3 Best2 Acceptable1 Worst

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Design Process

Arm Design SPI

Structual Design

Material

Balsa Aluminum

Size and Thickness

Optimization

Composite

Geometry

Research Existing Designs

Tour Guide Robots

Conducting Robot Industry

Actuation

DC Motors Servo

Pulleys Direct Shaft

Supports and Bushings

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Preliminary Designhttp://www.foamular.com/foam/products/foamular-250.aspx

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Final Design

Total Mass One Arm (kg)Conducting

RobotIteration

1Final

Design0.80 0.77 0.43

Servo Torque(kg-cm)Required Available

7.93 20.80

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Expandable & Modular

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Analysis

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Safety

Reduce Mass => Increase ControlLess Interia => Less DamageFoam Insulated MetalSlow Fluid MotionsSafe Manufacturing Practices

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SP II

Buy MaterialsManufacturingIntegrate Arm with FrameProgramming MotionFoam and Shell

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Gantt Chart

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Harrison

Safety! Multimedia InteractionBody Language Facial ExpressionsSpeech Output Approachable & Friendly AppearanceMobile Expandable

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Safety Considerations

Sensors◦Rangers reduce risk of collision◦Accelerometer shuts down in rare case of

tippingKill Relay

◦Wired to E-Stop and RPi for manual and automatic shutoff

Motion Control◦Hard-Coded maximum speed constant

Fused Power Supply

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Physical Design Considerations

RuntimeCostSpaceComplexityEase-of-interfacingOff-the-shelf verses Custom Built

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Physical Circuitry System

Laptop

5v Reg

7.2v Reg

LLC

Screen Speakers120vac Inverter

Electronic

SpeedControl

Battery12v, 60a

SLACharger

Kill Relay

Rangers

Motor

Motor

LLCArmServos

PWMController

Rasp. PiAcceler-ometer

E-Stop

LEDs

PowerControl

Presentation

LEDs

PWMController

System(Signal)34

LLC

Rangers

Rasp. Pi

Acceler-ometer

Raspberry PiFor all the Physical Control Systems(Interfaces w/ WiiMote and Laptop)

LightsRun via SPI, used for warning

PWM ControllerRuns servos and ESC

RangersPrevent Collisions

AccelerometerStops system incase of tip-over

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System(Presentation)

Laptop Screen Speakers

Main LaptopRuns Face/Speech/Presentation

Touch ScreenDisplays Face

Also allows interaction

SpeakersUsed for Speech Output

and Warning

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System (Power)

5v Reg

7.2v Reg

120vac Inverter

Battery12v, 70a

SLACharger

Kill Relay

Sealed Lead Acid batteriesUtilized because of high-capacity to priceDual Battery Setup for distributed weight

Kill RelayUsed to physically cut off power

5 volt regulatorPowers the Raspberry Pi and logic circuits

7.2 volt regulatorPowers the servos

120VAC InverterPowers the Laptop, Screen, Speakers

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Software Control Locality

Raspberry Pi

Rangers

Bluetooth

Motors/Servos Accelerometer

Laptop

FacePresentation

Speech

LEDs

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Presentation Software

Run Presentation on Facial Screen◦Slides, Videos, Photos

Presentation run from MP4◦Videos directly played◦Slides are freeze frames

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Facial Control

Face run from custom shapes inOpenGL◦Allows for smooth, dynamic face◦Also allows for 3D models if expanded

Voice generated from eSpeak TTS Library

Utilized touch “buttons” on screen sides for interaction

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Prototype Face

Home

Gallery

Lab

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Program Flowchart

FaceOpenGL

SpeecheSpeak

Start

Present/Face

Face

Check WiiMotevia Rpi(WiiUse)

MoveArmsvia RPi

Run/PausePresentation

VLC

Check Touch ScreenOpenGL

Present

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Future Goals

Build System◦Over break◦Confirm Raspberry Pi system operation

Complete Program System◦Libs tested – Finish final integration◦Complete by latest Mid-February

Build the first tour◦March

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Gantt Chart

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Team Management

BudgetTour PlanningIntegrationStandards

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Budget

Item PriceLaptop 700Touch Screen 225Battery 150Motor Controller 175Sensors   Speakers 20 Lights 25 Ultrasonic 110 Other 20Remote Controller 60Building Materials 470Motors 0Power Management 275Heat Control (Fans) 60Totals 2290*

Item PriceMaterials* 1990

Travel & Competition 1360

Total Requested 3350

Funding Amount RequestTeam Funds -300 1990*Possible Grants -600 1390*Possible Laptop Donation

-700 690*

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Funding

Secure Funding

http://www.linuxcertified.com/images/lc2210d-front-left.jpg

PCJShttp://www.ieeeghtc.org/sponsors-exhibitors-2012/

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ASME Competition

Robotics- Undergraduate Division

◦First Place: Remote Controlled Robotic Firefighting System– College of New Jersey

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Questions?

Andrew Specian (ME) ◦ Project Manager ◦ Arm Design ◦ Media Collection and Tour

Planning

http://tcnjroscoebot.wordpress.com/

Harrison Billmers (ECE) ◦ Facial Animation and Motor Control ◦ Drive Motor Control with Navigation ◦ Multimedia Interface

Special thanks to John Sperduto, for aesthetics and modeling consulting

Mike Dimeo (ME) ◦ Drivetrain ◦ Frame Design ◦ Protective Case for the

Electronics ◦ Appearance Aesthetics

RoScoE:Robot of the School of Engineering

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Support Slides

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Pictures

http://blog.spoongraphics.co.uk/wp-content/uploads/2011/robot/robot-character.jpg

www.startedbyamouse.comhttp://images2.wikia.nocookie.net/__

cb20111108222607/transformers/images/4/4a/Dotm-optimusprime-poster.jpg

http://forums.trossenrobotics.com/attachment.php?attachmentid=2036&d=1281619437

http://www.cearta.ie/wp-content/uploads/2006/hello_world.png

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Fundraising

Seeking ASME and IEEE Grant/Funding.IEEE PJCS FundingASME Conference Presentation

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Circuit Selection

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Circuitry

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Roles

Mike Dimeo◦ Drivetrain◦ Frame Design◦ Protective Case for the Electronics◦ Appearance Aesthetics

Andrew Specian◦ Project Manager◦ Arm Design◦ Media Collection and Tour Planning

Harrison Billmers (ECE)◦ Facial Animation and Motor Control◦ Drive Motor Control with Navigation◦ Safety◦ Multimedia Interface

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Standards

Robot Safety:◦OSHA[1]- Robotics

Awareness Barrier Device Presence Sensing Devices Emergency Braking Audible/Visual Warning Controls that initiate power or motion are

constructed and guarded against accidental operation.

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Gantt Chart

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Accomplishes

Servo TestingDrive Motor TestingConducting Robot Functionality(more in

future)