ºÝºÝߣ

ºÝºÝߣShare a Scribd company logo

Mid review presentation

?Download as PPTX, PDF?
?
Philip Colangelo
Philip Colangelo

The document proposes the design of an autonomous robotic manipulator to assist people who cannot feed themselves. It describes the problem of people with disabilities requiring feeding assistance. The proposed solution is a robotic feeding arm that can be controlled independently. The current progress includes developing the schematic, prototype, and programming. Key features include safety measures like RFID and sensors, inverse kinematics for positioning, and multiple user interface options. Performance measures and timelines/budgets are provided to evaluate and plan the project. Next steps involve further programming, electronics design, and housing development.

1 of 30
Download to read offline
Autonomous Robotic Manipulator Team ARM - University of Massachusetts Lowell Philip Colangelo, ZiChang Ruan, Allen Antony
Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
Problem ¡ñ Our focus ¨C People who rely on a feeding staff ¡ñ In home, school, hospital, etc. ¡ñ Need ¨C Inhibiting situations ¡ñ Illness, cognitive challenges, paralysis, gross motor control, etc. ¨C ¡°785 million people have a physical and or mental disability¡± [1].
Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
Solution ¡ñ A feeding device that can be controlled by someone who cannot feed themselves. ¨C Robotic Feeding Arm ¡ñ Benefits from solution ¨C Independence for users to feed themselves. ¨C Improved quality of life ¨C Frees up staff
Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¨C what we have done. ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
Current Progress ¨C Robot Arm ¡ñ Schematic ¨C Links ¨C Joint angles ¨C Joint positions ¨C 4 DOF ¨C |¦Ë¦È¦È¦È| Initial Robot Arm Schematic
Current Progress ¨C Robot Arm Solid Works Prototype
Current Progress ¨C Robot Arm ¡ñ Link Lengths ¨C Ratios: ¡ñ L1: 1 ¡ñ L2: 1/1.618 ¡ñ L3: 1/3.236 ¨C Desired Length ¡ñ With L1 = 13¡± ARM can reach up to 18.88¡±
Current Progress ¨C Robot Arm ¡ñ Motors ¨C 5 DC Servo Motors ¡ñ ¦Ë1+¦È1: SPG785A and Top Mount (7:1) ¡ñ ¦È2: HS-805BB Mega Power Servo ¡ñ ¦È3: HS-322HD Standard Deluxe Servo ¡ñ Bowl: HS-1425CR (Continuous Rotation) Servo SPG785A Top Mount [2] HS-805BB [3]
Current Progress - Sensors ¡ñ Proximity Infrared Sensors ¨C Obstacle avoidance ¨C Sharp GP2D120XJ00F ¡ñ Range: 3cm to 30cm Sharp Proximity Sensor [4]. ¡ñ Analog output
Current Progress - Control ¡ñ Microprocessor ¨C 5 ADC pins for proximity sensors ¨C 5 16-bit Timer registers for PWM output ¡ñ PWM 16 bit resolution ¨C DIP package ¡ñ PIC32MX series ¡ñ PIC24FJ series Microprocessor 40-DIP package [5].
Current Progress ¨C Prototype
Current Progress ¨C Program Flow
Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
Key Features ¨C Safety ¡ñ RFID ¨C Device will only work when in range ¨C Safety shut off when no tag is read ¡ñ Panic Button ¨C In case of an emergency user can override device to shut down and call for help.
Key Features ¨C Kinematics ¡ñ Inverse Kinematics (IK) ¨C Location ¡ñ Pin point desired location ¡ñ Feedback from camera will update end effector to meet user ¨C Obstacle avoidance ¡ñ IK's allows for remapping
Key Features ¨C User Interface ¡ñ Push Button ¨C For users with gross motor skills ¨C 2 buttons ¡ñ Bowl motor ¡ñ Food present and return ¡ñ Facial Recognition - Various facial movements to trigger device - Arm can meet user position
Key Features ¨C User Interface ¡ñ Open Source Computer Vision ¨C Facial recognition [6] ¨C Head movement
Mid review presentation
What Sets our Design Apart ¡ñ Cost Effective ¨C Manufacturing could make affordable for in home use. ¡ñ Smart Design ¨C Small learning curve ¨C Simple design keeps costs low ¡ñ Easy maintenance ¡ñ Small footprint ¡ñ Grand potential
Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
Performance Measures Category Measurement Description User Interaction Push Buttons for arm control Human interaction The push button interface will be a success if the robot can be triggered by different types of users. Head Movement Human interaction The head movement interface will be a success if the robot can be triggered by sideways head movement of different users. Facial Features Human interaction The facial features interface will be a success if the robot can be triggered by facial expressions of different users. Movement Efficiency Obstacle Avoidance Path of Motion Observation of arms behavior given an obstacle in test environment. Food Spillage Waste Performance of the arms ability to provide a smooth path for the food to travel, any spillage from spoon will be unsuccessful. Repeatability Number of Completions 10 successful food deliveries will be a success.
Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
Timeline - Milestones Milestone Range Design December ¨C January Prototype January ¨C February Debug/Redesign February Build March Debug March Finalize April
Timeline - Detailed Pick out RFID system Jan 28 Place bulk order continue developing openCV software Feb. 4 Build prototype ARM Feb. 11 Code IKS, PIR sensors Debug ARM mechanics and sensors Feb. 18 continue developing openCV software Research for new ways to improve the design Feb 25 Design Electronic Schematic Design PCB Mar. 4 Mar. 7th 1hr online info sessions for finalist begins Optimize/Redesign PCB ¨C Order Mar. 11 Test Open CV software Solder PCB Mar. 18 Implement Open CV software with ARM Test ARM Mar. 25 Test with RFID Build housing unit Apr. 1 Test and Debug ARM Apr. 8 Apr. 15 Apr. 22nd Final Report Due Continue test and debug Apr. 22 Apr. 25th 1hr online info sessions ends Finalize Apr. 29 May 1 Flight to Disney World !!!
Budget ¡ñ Given $2500 for project development and travel ¨C Our current design is high-averaging around $1000 for parts.
Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
Next Steps ¡ñ Code ¨C Inverse kinematics ¨C Obstacle avoidance ¨C Computer Vision ¡ñ Electronics ¨C Finalize schematic ¨C Design PCB for control circuit ¡ñ Base ¨C Design housing (pending on Atom)
References [1] Report: 15 percent of world population is disabled. [Online]. Available: http://www.washingtonpost.com/national/report-15-percent-of-world-population-is- disabled/2011/06/09/AGZcqBNH_story.html [2] SPG785A Top Mount. [Online] Available: http://www.servocity.com/html/spg785a_top_mount.html [3] HS-805BB Giant Scale Servo Motor. [Online] Available: http://www.robotshop.com/hitec-hs805BB-servo-motor.html [4] Infrared Proximity Sensor Short Range - Sharp GP2D120XJ00F. [Online]. Available: https://www.sparkfun.com/products/8959 [5] PIC Microcontroller. [Online]. Available: http://media.digikey.com/Photos/Microchip%20Tech%20Photos/PIC18LF44K22- I%5EP.jpg [6] OpenCV. [Online]. Available: http://opencv.org/wp- content/themes/opencv/images/logo.png

More Related Content

Mid review presentation

  • 1. Autonomous Robotic Manipulator Team ARM - University of Massachusetts Lowell Philip Colangelo, ZiChang Ruan, Allen Antony
  • 2. Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
  • 3. Problem ¡ñ Our focus ¨C People who rely on a feeding staff ¡ñ In home, school, hospital, etc. ¡ñ Need ¨C Inhibiting situations ¡ñ Illness, cognitive challenges, paralysis, gross motor control, etc. ¨C ¡°785 million people have a physical and or mental disability¡± [1].
  • 4. Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
  • 5. Solution ¡ñ A feeding device that can be controlled by someone who cannot feed themselves. ¨C Robotic Feeding Arm ¡ñ Benefits from solution ¨C Independence for users to feed themselves. ¨C Improved quality of life ¨C Frees up staff
  • 6. Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¨C what we have done. ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
  • 7. Current Progress ¨C Robot Arm ¡ñ Schematic ¨C Links ¨C Joint angles ¨C Joint positions ¨C 4 DOF ¨C |¦Ë¦È¦È¦È| Initial Robot Arm Schematic
  • 8. Current Progress ¨C Robot Arm Solid Works Prototype
  • 9. Current Progress ¨C Robot Arm ¡ñ Link Lengths ¨C Ratios: ¡ñ L1: 1 ¡ñ L2: 1/1.618 ¡ñ L3: 1/3.236 ¨C Desired Length ¡ñ With L1 = 13¡± ARM can reach up to 18.88¡±
  • 10. Current Progress ¨C Robot Arm ¡ñ Motors ¨C 5 DC Servo Motors ¡ñ ¦Ë1+¦È1: SPG785A and Top Mount (7:1) ¡ñ ¦È2: HS-805BB Mega Power Servo ¡ñ ¦È3: HS-322HD Standard Deluxe Servo ¡ñ Bowl: HS-1425CR (Continuous Rotation) Servo SPG785A Top Mount [2] HS-805BB [3]
  • 11. Current Progress - Sensors ¡ñ Proximity Infrared Sensors ¨C Obstacle avoidance ¨C Sharp GP2D120XJ00F ¡ñ Range: 3cm to 30cm Sharp Proximity Sensor [4]. ¡ñ Analog output
  • 12. Current Progress - Control ¡ñ Microprocessor ¨C 5 ADC pins for proximity sensors ¨C 5 16-bit Timer registers for PWM output ¡ñ PWM 16 bit resolution ¨C DIP package ¡ñ PIC32MX series ¡ñ PIC24FJ series Microprocessor 40-DIP package [5].
  • 13. Current Progress ¨C Prototype
  • 14. Current Progress ¨C Program Flow
  • 15. Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
  • 16. Key Features ¨C Safety ¡ñ RFID ¨C Device will only work when in range ¨C Safety shut off when no tag is read ¡ñ Panic Button ¨C In case of an emergency user can override device to shut down and call for help.
  • 17. Key Features ¨C Kinematics ¡ñ Inverse Kinematics (IK) ¨C Location ¡ñ Pin point desired location ¡ñ Feedback from camera will update end effector to meet user ¨C Obstacle avoidance ¡ñ IK's allows for remapping
  • 18. Key Features ¨C User Interface ¡ñ Push Button ¨C For users with gross motor skills ¨C 2 buttons ¡ñ Bowl motor ¡ñ Food present and return ¡ñ Facial Recognition - Various facial movements to trigger device - Arm can meet user position
  • 19. Key Features ¨C User Interface ¡ñ Open Source Computer Vision ¨C Facial recognition [6] ¨C Head movement
  • 21. What Sets our Design Apart ¡ñ Cost Effective ¨C Manufacturing could make affordable for in home use. ¡ñ Smart Design ¨C Small learning curve ¨C Simple design keeps costs low ¡ñ Easy maintenance ¡ñ Small footprint ¡ñ Grand potential
  • 22. Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
  • 23. Performance Measures Category Measurement Description User Interaction Push Buttons for arm control Human interaction The push button interface will be a success if the robot can be triggered by different types of users. Head Movement Human interaction The head movement interface will be a success if the robot can be triggered by sideways head movement of different users. Facial Features Human interaction The facial features interface will be a success if the robot can be triggered by facial expressions of different users. Movement Efficiency Obstacle Avoidance Path of Motion Observation of arms behavior given an obstacle in test environment. Food Spillage Waste Performance of the arms ability to provide a smooth path for the food to travel, any spillage from spoon will be unsuccessful. Repeatability Number of Completions 10 successful food deliveries will be a success.
  • 24. Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
  • 25. Timeline - Milestones Milestone Range Design December ¨C January Prototype January ¨C February Debug/Redesign February Build March Debug March Finalize April
  • 26. Timeline - Detailed Pick out RFID system Jan 28 Place bulk order continue developing openCV software Feb. 4 Build prototype ARM Feb. 11 Code IKS, PIR sensors Debug ARM mechanics and sensors Feb. 18 continue developing openCV software Research for new ways to improve the design Feb 25 Design Electronic Schematic Design PCB Mar. 4 Mar. 7th 1hr online info sessions for finalist begins Optimize/Redesign PCB ¨C Order Mar. 11 Test Open CV software Solder PCB Mar. 18 Implement Open CV software with ARM Test ARM Mar. 25 Test with RFID Build housing unit Apr. 1 Test and Debug ARM Apr. 8 Apr. 15 Apr. 22nd Final Report Due Continue test and debug Apr. 22 Apr. 25th 1hr online info sessions ends Finalize Apr. 29 May 1 Flight to Disney World !!!
  • 27. Budget ¡ñ Given $2500 for project development and travel ¨C Our current design is high-averaging around $1000 for parts.
  • 28. Outline ¡ñ The Problem ¡ñ The Solution ¨C Our Goal Design ¡ñ Current Progress ¡ñ Key Features ¡ñ Performance Measures ¡ñ Timeline/Budget ¡ñ Next Steps
  • 29. Next Steps ¡ñ Code ¨C Inverse kinematics ¨C Obstacle avoidance ¨C Computer Vision ¡ñ Electronics ¨C Finalize schematic ¨C Design PCB for control circuit ¡ñ Base ¨C Design housing (pending on Atom)
  • 30. References [1] Report: 15 percent of world population is disabled. [Online]. Available: http://www.washingtonpost.com/national/report-15-percent-of-world-population-is- disabled/2011/06/09/AGZcqBNH_story.html [2] SPG785A Top Mount. [Online] Available: http://www.servocity.com/html/spg785a_top_mount.html [3] HS-805BB Giant Scale Servo Motor. [Online] Available: http://www.robotshop.com/hitec-hs805BB-servo-motor.html [4] Infrared Proximity Sensor Short Range - Sharp GP2D120XJ00F. [Online]. Available: https://www.sparkfun.com/products/8959 [5] PIC Microcontroller. [Online]. Available: http://media.digikey.com/Photos/Microchip%20Tech%20Photos/PIC18LF44K22- I%5EP.jpg [6] OpenCV. [Online]. Available: http://opencv.org/wp- content/themes/opencv/images/logo.png