city college of new york 1 john (jizhong) xiao robotics and intelligent systems lab department of...

1City College of New York

John (Jizhong) XiaoRobotics and Intelligent Systems LabDepartment of Electrical Engineering

City College of New York

Tel: 212-650-7268Email: [email protected]: http://134.74.16.73

Robotics Research at CCNY


Current Projects• NSF MII Planning Project:

– Center of Perceptual Robotics and Intelligent Systems (PRISM Center at CCNY)

– Funding Agency: NSF Minority Institutional Infrastructure Program

• Wall-climbing Robot project – Funding Agency: Army Research Office

• Smart Brain project – Funding Agency: NSF Major Research Instrument

Program


Wall-climbing Robot Project• Project Title:

– Cooperative Wall-climbing Robots in 3D Environments for Surveillance and Target Tracking

• The objective: – develop a modular, re-configurable, wall-climbing

robotic system and to investigate intelligent control methods and vision algorithms to control and coordinate a team of such robots to perform various defense, security, and inspection missions.

• Principle Investigators:– John Xiao (EE), Zhigang Zhu (CS)– Ali Sadegh (ME)


Wall-climbing Robot Project• Dream:

– transform the present 2-D world of mobile rovers into a new 3-D universe.

– move on ground, climb walls, walk on ceilings, transit between surfaces.

• Applications:– Urban warfare applications: surveillance and reconnaissance,

weapon delivery, guiding perimeter around a building, etc– Security and counter-terrorist applications: intelligence

gathering about a hostile situation within a building, etc.– Inspection and maintenance applications: routine inspection

of buildings, nuclear containment domes, and other hard-to-reach places, inspection of aircraft, sand blasting of ship hulls, etc.

– Other Civilian applications: assistance in firefighting, search and rescue operations, etc.


Wall-climbing Robot Project• Challenges:

– Adhesive mechanism • strong attraction force on various wall surfaces

(brick, wood, glass, stucco, plaster, and metal) • without sacrificing mobility

– Transition Mechanism• wheeled robot to achieve quick motion• articulated structure for smooth transition• modular design combine two

– Control/coordination of multiple robot modules– Vision research for surveillance applications


Existing Technologies and Robots

• Existing Technologies– magnetic attraction devices– vacuum suction techniques– biologically inspired

• gecko foot • limbed devices

– aerodynamics attraction• vortex attraction technique• attraction generated by propeller


Existing Technologies and Robots• Existing wall-climbers:

MSU “Flipper” & “Crawler”JPL-Stanford rock climber

Avionic Instruments Inc. Vortex attraction technique iRobot’s Mecho-Gecko

CM

U gecko inspired

climber


Wall Climber: Adhesive Mechanism

• Design alternatives:– vacuum pumps (MSU climber)– vortex attraction device– vacuum rotor package

Vacuummotor

air out

air out

air in

Vacuumimpeller

Exhaust(outer)

Exhaust(inner)


Wall Climber: Vacuum Chamber Seal

• Inflated Tube Skirt Seal

• Flexible Bristle Skirt Seal

attraction force is so strong that it anchored the device to wall surfaces

trade-off between sealing and mobility


Wall Climber: Selected Design

• Selected Design– vacuum rotor package– flexible bristle skirt seal– differential drive – pressure force isolation rim (re-foam)

• improves mobility, & enhances sealing by reducing the deformation of the skirt

R e-fo am

S k irt

V acu u m O ff

R e-fo am

S k irt

V acu u m O n

R eac tio n fo rce s fro m w e ig h tan d p re ssu re fo rce o n

o u te r r im a rea o n ly

R eac tio n fo rce s fro m w e ig h tan d p re ssu re fo rce o n

o u te r r im a rea o n ly

Plate

R e-foam

P ressu reF o rce

D rive wheel

R eac tio n fo rce s fro m w e ig h t


Wall Climber: Transition Mechanism

• Modular Design

Four wall-climber modules are configured to form a larger wall-climbing robot which can carry heavy payload

• Transition Mechanism


DSP-based Control System

33887M otoro la

F2812 D SP

33887M otoro la

M 2

M 3

M 1

O UT1

O UT2

O UT2

IN1

IN2

IN1

IN2

PW M1

PW M2

PW M3

PW M4

PW M5

PW M6

PW M7

PW M8

M 1Encoder

M 2Encoder

M 3Encoder

C hA

C hA

C hA

C hB

C hB

C hB

Q EP1

Q EP2

Q EP3

Q EP4

CAP3

CAP6

ADCINB4

ADCINB3P-Sensor2

P-Sensor1

PresssureSensor

G PIO B6Valve1

SC I-B

G PIO F, 8,9,10,11,12,13

6 D igita l I/O Sensors

G PIO B2 EN

G PIO B3 EN

G PIO B4

G PIO B5

R S232 R eceiver

IRSensor

(SH AR P)

ADCINA7ADCINB5ADCINB6ADCINB7

O UT1

33887M otoro laO UT2

IN1

IN2

ENO UT1

33887M otoro laO UT2

IN1

IN2

EN

O UT1XINT1

G PIO B7

FB

FB

FB

M 3

D rive M otor

D ecoder

U ltrason icS ensor

eco

Trig

M A R G

M agnetic

Accelerom eter

G YR O

ADCINB0ADCINB1ADCINB2

ADCINA3

ADCINA0ADCINA1ADCINA2

ADCINA4ADCINA5ADCINA6

R S232H ost C om puter

SC I-A

D rive M otor

L ift M otor

Vacuum M otor

• Actuator and sensor suite

•TMS320F2812 DSP from Texas Instruments Inc.

• 32-bit Processor

• Target for control applications


Wall Climber: Software Structure

M otorController

Task LevelScheduler

TrajectoryP lanner

M otor1

Encoder

M otor 2

Encoder

Encoder

Valve

C lim bing R obot

P ressure S ensors

M otion S tatus

Desired angles

Task leve lcom m ands

M otion steps

InfraredSensor

SonarSensor

M ARGsensor

M icrocam era

M otor 3

Motor

Com m andInterpreter

M otionP lanner

Rem oteContro ller

O peratorCom m ands

Feasib le m otionsequence

In itia l & goa lconfigura tions

E nvironm ent

W all Surface


CCNY Wall Climber Prototypes

Prototype III, vacuum rotor package

Prototype II, inflated tube seal

Prototype II, flexible bristle skirt seal

Prototype I, vortex attraction


CCNY Wall Climber Prototypes

• Video


Smart Brain Project• Project Title:

– Smart Re-configureable Miniature Robot Systems Based on System on Programmable Chip Technology

– NSF MRI Instrument Development

• The objective:– to develop highly-adaptive computation module based

on SoPC technology (FPGA) for ultra-small robots – to realize onboard sensor processing, advanced motion

control, and reliable wireless communication

• Principle Investigators:– Umit Uyar (EE), John Xiao (EE)


Project Overview• FPGA technology

– programmable logic programmable systems– integrate FPGA logic, embedded high-performance

processors, digital signal processor (DSP) blocks, and multi-gigabit transceivers, making FPGA a versatile technology for high-end research and commercial products.

• FPGA Device Features– Xilinx Virtex-II Pro family FPGA device – two 32-bit IBM PowerPC 405 cores– FPGA logic, DSP blocks– 10M of block RAM, off-chip memory as a gap-stop

measure – Xilinx Intellectual Property (IP) Core library


Project Overview

• Benefits– flexibility, reconfigureability

• hardware reconfigureable, software reprogrammable

– hardware/software partitioning • high-speed logic implementation in FPGA fabric &

high-flexibility software code in Power PC

– IP core library to achieve basic robotic functions• pre-verified, reusable• satisfy the requirements for control, communication,

and onboard vision processing capability of miniature robots


FPGA-based Multiprocessor

O n-C hip Periphera l BU S (O PB)

PLBArbiter

Pro

cess

or

Lo

cal B

US

(P

LB

)

O PBArbiter

PLB to O PBBridge

PLB B lockR AM

InterfaceC ontro ler

PLB B lockR AM


IIC BusInterface

D iscrete C osineTransform

(2D D C T V2.0)

Fast FourierTransform(FFT V2.0)

PLBArbiter

PLB to O PBBridge

O n-C hip Periphera l BU S (O PB)O PB

Arbiter

IIC BusInterface

G PIO

SD R AMC ontro llerO PB

Tim er/C ounter

PLB B lockR AM


Pro

cess

or

Lo

cal B

US

(P

LB

)

D M AC ontro ller

D ual PortBR AM(V5.0)1A0

1A16

2A0

2A16

2D0

2D15

1D0

1D15

2O E

1W E 2W E

1O E

BinaryC ounter(V6.0)

CLK

ACLR

Q 0

Q 16

PowerPC405 Core

PowerPC405 Core

PW M

Q uadratureLogic

M otor

PowerAm plifier

Phase A

Phase B

PW MLogic

Color Cam eraM odule

SD A

SC L

Y0-Y7U V0-U V7

H R EFPC LK

VSYN C

16

17

8

8

Virtex-II ProFPGA

U AR TRF

M odule

Contro ller

Enc

oder

A/D

Sensors

Auto-ScanC ircuitry

C2I

O PBTim er/

C ounter

CAPT0 CAPT1

INT

D ual PortBR AM(V5.0)1A0

1A16

2A0

2A16

2D0

2D15

1D0

1D15

2O E

1W E 2W E

1O E

EncoderCounter

• A processor-centric architecture

• FPGA fabric is used for custom logic and interfaces.

• Single board FPGA-based multiprocessor for robotics applications


Recent Progress

• Logic design for motor control (PWM, encoder reading)

• Demonstration of virtual backbone concept for reliable server pooling

Virtex-II Pro ML300 Evaluation board


Thank you!

city college of new york 1 john (jizhong) xiao robotics and intelligent systems lab department of...

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