ROBOTICS - Introduction to Robotics Microcontroller
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The document provides a comprehensive overview of robotics, focusing on microcontrollers, sensor integration, and mobile robot construction using LEGO Mindstorms. It outlines various interfacing techniques, challenges encountered in robotics education, and recommends improvements for user experience and troubleshooting. Additionally, it highlights the advantages of using LEGO for teaching programming and mechanics, while addressing limitations and proposing solutions for enhancement.
ROBOTICS - Introduction to Robotics Microcontroller
- 2. Introduction to RoboticsIntroduction to Robotics MicrocontrollerMicrocontroller
- 3. Laboratory workLaboratory work • Mobile robot and the use of 8051 (or the ROM-less version 8031) • free project o Various robots: robot soccer, legged robots.. o graphic card o DSO o temperature control o legged robot o windows programming interfaces o etc.
- 4. Descriptions of theDescriptions of the Interfacing techniquesInterfacing techniques • Microprocessors systems o memory interface o IO interface • hardware interfacing • software control • signal processing
- 5. Overview of the robotOverview of the robot • Sensory: o Sensor 1: ultra-sonic sensors o Sensor 2: touch sensors o Sensor 3: range proximity sensors o Sensor 4: Path following sensors o Sensor 5: Sound sensors • Wheels and gear box, Dc motor control o Speed control by photo interrupters • Brain: 8031 basic • Intelligence • Power supply
- 6. Diagram of the robot structureDiagram of the robot structure • 8031CPU & 8255 PC RS232 Motor Controller ULS radar on servo motor forward Touch sensor Right wheel Rear wheel
- 7. Our robot carOur robot car •
- 8. Sensory organsSensory organs • Ultra-sonic radar o Transmitter o receiver • touch sensors by switches • Approximate sensors by infrared red light • Path following sensors • Sound sensors • Don’t worry about the following circuits they will be explained later.
- 9. SensorsSensors • Primary o Infrared beacons o Infrared range detectors o Ultrasonic range detectors • Secondary o Momentary contact sensors o Reed switches o Mercury switches o Others …
- 10. Mindstorms on the NetMindstorms on the Net • Excellent facility to overcome any obstacles that may be encountered • Common questions answered • Program tuition • Additional products introduced
- 11. Touch and light sensorsTouch and light sensors • Very easy to assemble • Very sensitive to external stimuli
- 12. Rotation andRotation and temperature sensorstemperature sensors • Temperature sensor would be of particular use in conducting potentially dangerous science experiments via robotics
- 13. Robotic Command ExplorerRobotic Command Explorer • RCX • program downloaded via infra red beam • 3 output terminal- used for motors • 3 in/out terminals for touch, light, temperature sensors
- 14. My modelMy model • Lego construction enjoyable, however the integration of the motors seemed a little difficult in terms of design • The motors should snap together
- 15. It worksIt works
- 16. Using both sensorsUsing both sensors
- 17. How the “Find”How the “Find” Command SimulatorCommand Simulator WorksWorks • Running RCX Program as a Metaphor for Execution of “Find” Command (Search Engine query). • Physical Environment as Database Table. • Obstacles Within Environment as Records in Database Table. • Touch Sensors Locate Incorrect Records
- 18. How the “Find”How the “Find” Command SimulatorCommand Simulator WorksWorks 4. Light Sensor Locates Correct Record. 5. On Retrieval of Correct Record, “Find” Output Delivered on Screen via Infra-Red Message to Second RCX
- 19. How the “Find”How the “Find” Command SimulatorCommand Simulator WorksWorks 6. Motors Off to Signify End of Search. 7. Correct Record Not Found Within 30 Seconds = Search Timeout/ End of File.
- 20. Disadvantages/LimitatioDisadvantages/Limitatio ns of Lego Mindstormsns of Lego Mindstorms Criticism: Aurally-impaired Users or Users without a Soundcard excluded from Software Tutorial. Recommendation: Voice-over should be accompanied by additional sub-titled Text. Criticism: No Obvious Means of Skipping Tutorial results in many Users going through Process each time Software is installed Recommendation: There should be better Signposting of “Skip Tutorial” Option.
- 21. Disadvantages/LimitatioDisadvantages/Limitatio ns of Lego Mindstormsns of Lego Mindstorms Criticism: There is more Emphasis on Mechanical Skills than is Necessary for our Purpose, although this in itself is not a bad thing. Recommendation: For Non-Engineering Students, a Pre- Assembled Model might be of more Use. Criticism: If one uses the Software Guide without having IR transmitter connected to PC, one is forced to exit the Application. Recommendation: Independence of Software Guide & IR Transmitter/ RCX.
- 22. Disadvantages/LimitatioDisadvantages/Limitatio ns of Lego Mindstormsns of Lego Mindstorms • Criticism: Difficulty in identifying where Process is failing, e.g., whether it is Software or Hardware-related • Recommendation: Debugger tool should be included in Package. • Criticism: Conflict between Interrupt Handlers means that event-oriented Program will not run. • Recommendation: Better Troubleshooting for Programming (as opposed to Construction). • Criticism: Built-in Obsolence. For Example: Rubber-Bands last an average of 5 Minutes, therefore, after one has run out of the supply included in the kit, it is no longer possible to test.
- 23. Advantages of LegoAdvantages of Lego MindtoolsMindtools Easy Introduction to Computer Programming. Opportunity to show abstract Concepts in concrete Form. Opportunity for Multi-Faceted Learning, e.g., Programming/ Mechanics/ Engineering/ etc.
- 24. Advantages of LegoAdvantages of Lego MindtoolsMindtools Instructions are self-explanatory, logical and intuitive. Positive Feedback provided throughout Tutorial which is encouraging for the Beginner.
- 25. Program screenshotProgram screenshot Example of one Program that didn’t work because of conflict between stacks
- 26. Academic EvaluationAcademic Evaluation • Excellent means of introducing basic programming concepts such as loops, nested loops and conditional statements, in an environment where effects on an end product can easily be viewed • Excellent teaching tool for In/ Out devices and interfacing • Robotics is put easily within the grasp of a teenager • The integration of both software and hardware gives a very balanced education • The complementary relationship between hardware and software can be seen at a glance, as opposed to the traditional approach of introducing both as separate disjointed topics in IT
- 27. UltrasoundUltrasound • ~40Khz • Time of Flight • Depending on sensor, o return analog waveform o Return time until first peak • Hard to resolve small detail • Multipath Small detail hard to resolve Multipath can fool you!
- 28. Ultrasonic RangeUltrasonic Range DetectorsDetectors • Devantech SRF04 Ultrasonic Rangers o One per team (more upon request) • To detect and object o Modulated (40kHz) ultrasound energy is emitted from one of the transducers o The bursts reflect off an object and return to the second transducer o The sensor outputs the time of flight
- 29. Ultrasonic RangeUltrasonic Range DetectorsDetectors 0 1 2 3 4 5 6 0 10 20 30 40 Distance to reflected object (in) EchoPulseWidth(ms) 0 2 4 6 8 10 12 14 16 0 2 4 6 8 10 Distance to reflected object (ft) EchoPulseWidth(ms)
- 30. Ultrasonic RangeUltrasonic Range DetectorsDetectors 7.5 7.1 7.1 7.4 6.0 5.2 5.2 9.0 9.0 3.8 3.8 4.4 1 ft 0.9 0.2 1.8 0.9
- 31. Ultrasonic RangeUltrasonic Range DetectorsDetectors • Noise o Relatively stable readings especially between 1ft to 6ft o Readings for larger distances are less consistent but averaging or median filtering can help o Beam spread is significant • Sampling o Can reasonably acquire 20-30 samples per second • Uses o Long range obstacle mapping o Distance to target measurements
- 32. Research BackgroundResearch Background Today, many dangerous chemicals are produced and transported. There is a need to detect the emission of these chemicals in case of chemical accidents or fires. Hence, a gas sensor system for detection of these hazardous compounds has been developed.
- 33. System ConstructionSystem Construction Amplifier Circuit D/A Converter Gas SensorA/D Converter Robot ① ② ③ ④⑤ ⑥
- 35. Basic Measuring Circuit:Basic Measuring Circuit: Ps = (Vc - VRL)² / Rs Rs = (Vc - VRL) RL / VRL The value of VRL should be chosen to keep Ps <=15mW
- 36. Infra-red Proximity detector circuitInfra-red Proximity detector circuit fromfrom Mobile RobotsMobile Robots by Jones,AK Petersby Jones,AK Peters• LED1 LED2 LED1 and LED2 can be controlled independently by IO pins PD2 and PD3 respectively
- 37. Motion controlMotion control • Power the wheels o Power method 1: Mechanical relay o Power method 2: Single direction Power Transistor o Power method 3: Dual direction H-bridge circuits • Speed control o Speed control 1: pulse code modulation o Speed control 2: by photo interrupters and Feedback o Optic isolation • legged robot by servo motors
- 38. Power method1: Direct Current DCPower method1: Direct Current DC (1A) motors by mechanical relay(1A) motors by mechanical relay • DC motor Mechanical relay Current driver e.g. ULA2001A TPIC2701 or ULN2001A from Texas instrument http://www.ti.com/sc/docs/psheets/abstract/datasht/slis019a.htm 8255
- 39. Power method 2: Direct CurrentPower method 2: Direct Current DC(1A)motors by transistor (one direction)DC(1A)motors by transistor (one direction) • Using a single power transistor High power resistor 5 Ω, 5W DC motor 560Ω, 1W 5V From 8255 output TIP3055 + - Current driver or optical isolator
- 40. Power method 3: Direct Current DCPower method 3: Direct Current DC motors by H-bridge transistormotors by H-bridge transistor circuit (Two-direction)circuit (Two-direction) • JP11 -> Motor • Forward : A=1, B=0 • Backward:A=0,B=1 • Stop :A=B 5V GND A B motor
- 41. Our robot carOur robot car •
- 42. IR photo interrupterIR photo interrupter circuitcircuit 5V indicator GND output
- 43. Registers for motorRegisters for motor controlcontrol • L=left, R=right • M=motor, • E=enable, • D=direction • RCT, right counter • LCT, left counter • VRM, valid right turns • VLM, valid left turns R0 0 1 2 3 4 5 6 7 RME RMD LME LMD R1 R2 VRM VLM RCT(0,1,2,3) LCT(0,1,2,3)
- 44. Precise speed control byPrecise speed control by feedbackfeedback • Set RCT(0,1,2,3) ,LCT(0,1,2,3) to specify the number of turns of the wheels. • Set RME, LME to start move motors; directions depend on RMD, LMD • VRM,VLM will be reset to 0. • The photo interrupters signals from the left/eight wheels will increment the internal wheel counters. • When the wheels make the correct number of turns specified by RCT(0,1,2,3) and LCT(0,1,2,3), VRM, VLM will be set to 1 respectively.
- 45. Positional control: Servo motors:Positional control: Servo motors: e.g. Futaba FP-S148 RCe.g. Futaba FP-S148 RC
- 46. The brainThe brain • 8031 system and the Basic Language o 8031, memory and io interfaces o LCD display o counter and serial link o Infrared red light serial link • Other micro-controller and application languages • Lego Mindstorms http://www.legomindstorms.com/
- 47. Intelligence and openIntelligence and open questionsquestions • Seeing • Thinking • path finding • Environment representations • Automatic recharge of battery
- 48. conclusionconclusion • We will build a mobile robot and learn interfacing techniques along the way • We will build intelligence software for the robot to learn more about machine intelligence
- 49. Lightning Sensor Operation: • Stripline antenna detects EM radiation • Induced current excites base of transistor • Current from 9V battery is allowed to flow through IR emitter • IR detector (diode) passes lightning detection to serial port Ω Ω Ω Ω 100µF
- 50. Lightning Sensor • Interfaced to a PC by a serial port by: - an Infra Red emitter/detector. - a high level programming language such as C - Data collection in a file.
- 51. Lightning Sensor • Serial Communications Interface: Software Design: - proposed an efficient interface algorithm in C language for “carrier=lightning” detection. - tested for desired port signals.
- 52. Optical Sensor Goals Educate children about the components of visible light Detect relative levels of red, blue, and green light Develop a future UV sensor from this design for invisible light
- 53. Optical Sensor Description A plastic box coated with silver chrome spraypaint Each detector opening covered with a bandpass color filter Level of color indicated by LED array (0 least – 10 most)
- 54. Visible Spectrum
- 55. Emission Spectrum of Sunlight
- 56. Technology Circuit Diagram for each sensor
- 57. Actual Circuits on Inside
- 58. WATER GARDENWATER GARDEN • Project Goal: This project is a continuation from last semester in which the goal is to create a sound-pleasing environment for the Rainforest Room by constructing a running waterfall
- 59. Project ApproachProject Approach • Meet with project partner o Discuss goals, guidelines, funding, deadlines, etc… • Visit HHES rainforest room • Brainstorm ideas o Pond shape and size, waterfall height, fountain possibilities
- 60. Project Approach, Cont.Project Approach, Cont. • Initial sketches drawn in design notebooks • Complete, detailed drawing, including bill of materials, presented to project partner for approval
- 62. Water GardenWater Garden ConstructionConstruction • Building began with frame construction using aluminum studs • Fountain was enclosed with plywood as a medium to attach cedar shakes • Top was water-sealed, plastic pond was inserted, and top fountain was placed
- 63. Construction, cont…Construction, cont… • Rocks, Live Plants, and Decorations Were Added for a Realistic Touch to the Rainforest theme • Construction is Complete!!!
- 64. Project FinalizationProject Finalization • Water Garden Dedication at HHES with Parents, Students, and Faculty • Introduction of Aquatic Life • Final Meeting with Project Partner to give instructions for the future
- 66. DVE InformationDVE Information • Basics of Digital Video: Key terms and technologies: o Codec o Bandwidth o Compression o Keyframe, etc. • Why are these important? • What systems engineering implications do they hold?
- 67. TV AccomplishmentsTV Accomplishments • Create compilation of Digital Video Editing information • Research different DVE hardware and software packages • Demonstrate possible use of target package
- 68. DVE PackagesDVE Packages • Sample Hardware: • RealMagic Digital Video Recorder (MPEG 2), $999 • Allows native MPEG 2 compression and editing • High quality, but high price* • Pinnacle Studio DC10 Plus, $178 • Lower price, but lower quality • System requirements eased • Pinnacle miroVideo DC30 Pro, $589 • Middle-of-the road performance • Good Price-to-Quality ratio • Units differ primarily in compression and bandwidth. * Low-end professional suites cost approx. $15,000
- 69. Distribution andDistribution and ArchivingArchiving• Tape • Still most universal way of watching a video tape. • Most cards allow output from computer to tape. • CD-ROM (650 MB) • Store as data files • Store as MPEG 1 Video CDs (VCD) • DVD (5.2 GB) • DVD-RAM • DVD-R
- 70. DVE SoftwareDVE Software • Adobe Premiere • “The Standard” • Strong collection of very powerful tools • Avid Cinema • Basic tools • Lack of flexibility and user power
- 71. Recommended SystemRecommended System • Pinnacle miroVideo DC30 Pro • Adobe Premiere • CD-ROM / Video Tape
- 72. TV AccomplishmentsTV Accomplishments • Create compilation of Digital Video Editing information • Research different DVE hardware and software packages • Demonstrate possible use of target package
- 73. Demonstration ofDemonstration of TechnologiesTechnologies • Produced, in collaboration with Rainforest Room Team to document the construction of the water garden • Captured and edited using recommended platform (in EPICS Software Lab) • Allowed demonstration of package’s capabilities
- 74. Other SensorsOther Sensors • Other sensors we have: o Momentary contact sensors - Bump sensors • Other possibly useful sensors: o Mercury switches - Tilt of see-saw robot o IR Beam - Detect presence of target o Whiskers, bumpers …
- 75. Team MembersTeam Members • Professor Nyenhuis • TA: Saba Anvery • Web Page Team o Andrew Offenbacher o Tim Halligan o Imad Hussain o Amir Hossein Sayah- Sina o Wei Bin Teah • RainForest Room o William Gockley o Rachel Lehman o Corey Manley o Shane Ryckeart • TV station o Bryan Choong o Rusty Papsdorf o Pranesh Thirukkonda o Ming Hin Yap
- 76. ThankThank You !!!You !!! For More Information click below link: Follow Us on: http://vibranttechnologies.co.in/robotics-classes-in-mumbai.html