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Robotics at CASE Mhequb Hayat

Department of ECE

Center for Advanced Studies in Engineering (CASE).

Islamabad, Pakistan.

Introduction

• CASE

• CRG

• About Me

Introduction

CASE:

Center for Advanced Studies in Engineering (CASE), Islamabad.

Affiliated with UET Taxila.

CRG:

CASE (undergraduate) Robotics Group.

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About Me

Alumni of:

• NUST College of EME, Rawalpindi (Mechatronics).

• LUMS, Lahore (Robotics).

Currently:

• Lecturer at Department of ECE, CASE Islamabad.

• Vice group chair, CRG.

• New start-up

“RoboTech Engg. (pvt) ltd”.

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History of CRG

History

• Started in Fall 2008 by Mr. Mansoor Shaukat (Currently PhD Scholar at NUS Singapore)

• National Engineering Robotics Contest (NERC), 2009 held at EME

And won

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History

Ayan Rover (Shrimp design)

Highest climbing Shrimp rover

Best project award.

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History

Asia-pacific Broadcasting Union (ABU) Robocon 2010, Egypt.

Defeated India in Head-to-head match

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History

• Won NERC 2010, NERC 2011

• Won Robosprint 2012

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History

Qualified for ABU Robocon 2011 and 2012

And defeated Russia in 2012.

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Achievements Video

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Projects

• ABU Robocon

• National Engineering Robotics Contest (NERC)

• National Robosprint

• Ayan Rover

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Projects

• eSatRol • Intelligent control of dish antenna

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Projects

• IR-SAM (Infra-red Surface to Air Missile) Auto launcher

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Projects

• Remote Surveillance Security Application Capability of operation within 1KM wirelessly

Night-Vision device installed 2 degrees of freedom platform

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Features of Our Systems

• Mechanical System

• Electrical Systems

• Control Systems

Mechanical System

Drive System

Heavy weight Picking

Stair climbing

Human operator

Pneumatics

Localization

Mechanical Systems

Drive Systems: Tri-Lambda Used in

• Manual Robot Robocon 2011

• Robosprint 2012

• NERC 2011

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Mechanical Systems

Drive Systems: Mecanum Used in

• NERC 2010

• Robosprint 2012

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Mechanical Systems

Drive Systems: Crab (All wheel are driven and can steer also)

Autonomous Robots

in Robocon 2011, 2012

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Mechanical Systems

Localization: X-Y Encoders

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Mechanical Systems

Other Systems

• Stair Climbing

• Human Operator rides on the robot

• Pneumatics for Manipulation mechanism

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Mechanical Systems

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Electrical System

Electrical Systems

Encoders: Quadrature 250 counts per rev.

From US Digital

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Electrical Systems

Motor Drivers: Sabertooth dual 25A motor driver

From Dimension Engineering

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Electrical Systems

Sensors: Sharp IR

Sonar

Flexi force

Color detection

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Control Systems

• PID Control Speed control of Robot, straight line movement, other

mechanisms

• Kalman Filter Fusion of Sensor data

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Competition Robotics

Speed Matters • CIM Motor from Andymark

Free Speed: 5310rpm

• Brushless DC Motors

Very High RPM

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Competition Robotics

• Light Weight Solutions

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Problems and Solutions

• Electrical Noise Issues Better wiring, Eliminating the effect of magnetic field

• Communication Noise System gets complex

Multi-controller are used

Communication between controllers

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Latest Experiments

• Solution to Communication Noise Reduce communication as much as possible: Parallelism

Options:

– Propeller Microcontroller (8-core Microcontroller), it can run 8 threads at a time

– Parallel modules on FPGA

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Other Problems

• Funds

• Knowledge

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Funds

• ABU Robocon project funds come from – Center for Advanced Studies in Engineering (CASE)

– Center for Advanced Research in Engineering (CARE)

• Not sufficient for doing good research

• All other student projects are self funded by students

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Entrepreneurship

• To generate revenue for these projects, we started entrepreneurial activities and consultancy

• We are registered as “RoboTech Engg. (pvt) ltd”

• Products

– DC Motor driver was designed and sold

– Breakout board for dsPIC 33F microcontroller

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Entrepreneurship

• Consultancy

– IR-SAM prototype was developed, now we get production orders

– Remote surveillance security application

– eSatRol prototype completed, we will also get production orders

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Knowledge

• We, here in Pakistan, Lacking in technology and latest knowledge

• Solution: Learning and Knowledge sharing

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Knowledge Sharing

• To learn and share knowledge, we started a new venture last year:

Robosprint: National Education Campaign – National Robotics Competition (rotation based) with three

novel ideas 1. A National Student Coordination Program (NSCP)

2. Special Robotics Seminars

3. National Board as Governing Body: Representatives from all major universities of Pakistan

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Knowledge Sharing

Rotation of event host:

• Robosprint 2012 was hosted by CASE

• Robosprint 2013 would be hosted by UCP Lahore

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Collaborations

• We are open for collaborations on

– ABU Robocon

– Robosprint

• National Board

• Seminars

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Conclusion

• Undergraduate Students: Strength of Pakistan

• Learning/Knowledge sharing

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Acknowledgments

• All Founding members of CRG

• All undergraduate students of CASE for forming a vibrant robotics group

• Organizers of WFAR3

• Dr. Abubakr: Great teacher and mentor, he is my inspiration.

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Thank you …

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