Design Project Introduction DE2-based SecurityBot
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1 Design Project Introduction DE2-based SecurityBot ECE2031 Fall
2 Design Project Motivation ECE 2031 includes the sophomore-level team design experience You are developing a useful set of tools eventually including an entire computer within the DE2 board Using tools creatively to solve problems is what engineers and computer scientists do 2
3 ECE 2031 Project Components Propose a solution to a problem: Given a robot and an area to patrol, what s a good approach to detecting intruders? More details in this presentation and later in the semester Implement the proposed design on the DE2Bot Demonstrate, present, and document your solution 3
4 Technical Communication Aspects Your project includes two major UPCP assignments: A proposal presentation outlining what you intend to develop A final design summary You will also maintain a design logbook using forms provided by the UPCP Specific requirements will be detailed on Piazza 4
5 Background on DE2Bot Many semesters ago, older lab robots were gutted, adding a new internal controller board and a connected DE2 on top Then, each semester a new capability has been added, or a new application has been demonstrated 5
6 ECE2031 DE2Bot Past Projects Position/velocity feedback from wheel encoders Open-loop velocity control with PWM Processing of sonar transducers, and wall-following demonstration I 2 C interface for battery monitoring and audio codec control Odometry (position estimation from wheel rotation) Audio codec interface and digital sound generation Robot Self-test Corral localization and navigation demonstrations Infrared signal detection and remote control demonstration UART for wireless communication and warehouse robot demo Implementation of hardware interrupts for SCOMP Complex mathematical functions in software (ATAN) Explorations of point-to-point movement methods Analyzing sonar data to locate objects and make contact 6
7 Current Project Motivation Mobile robots are ideal for mundane, round-the-clock tasks, such as perimeter security Previous projects have developed Go To capabilities Robot can execute controlled movements Estimate of robot position is available as a sensor Some projects have used sonar to detect obstacles You will be choosing strategies to patrol an area using sonar Robot movement is required to scan the entire area 7
8 Your Design Task for Fall 2017 Start at an assigned location Patrol, searching for another robot moving through the area 8
9 SecurityBot fundamentals The boundary is partly physical, partly virtual Leaving the area risks interference with observers, furniture The dividing boundary ( T ) can move left or right several feet between runs Faster detection results in higher score 9
10 DE2Bot Movement The DE2Bot has two drive wheels, with a passive caster to support the rear end. This is called a differential drive or differential wheeled robot. Caster Drive wheels 10
11 Controlling the DE2Bot Each drive wheel is controlled independently. E.g. set left wheel velocity to +200 and right wheel velocity to -80 This allows for in-place spins, and movement in straight lines and arcs. 11
12 DE2Bot Motor Speed Control The DE2Bot user sets a desired speed for each motor, but as a physical system: It will take some time for the motors to reach their steady-state speed. The steady-state speed will not be exactly the desired value. Software must monitor the robot s state and control it at real-world time scales. 12
13 DE2Bot Odometry The DE2Bot can measure each wheel s rotation. By integrating the wheel movement, the robot can keep track of its real-world position. This is called dead reckoning odometry, and was the subject of the project in Summer X += +500 mm Y X θ += 20 X += cos(20 )*500 mm = +470 mm Y += sin(20 )*500 mm = +171 mm (not to scale updates are actually made at the level of fractions of a mm) 13
14 Odometry Accuracy The accuracy of dead reckoning odometry degrades with distance. The odometry calculations rely on physical dimensions of the robot wheel diameter and axle track which are subject to variation. External effects, such as a wheel slipping, introduce non-systematic errors. All errors tend to compound over time due to the integration. 14
15 Example of Odometry Error Consider the case where the drive wheels are not exactly the same size. If the motors turn at exactly the same speed: According to the odometry calculations, the robot is moving in a perfectly straight line. However, physically, the robot will be moving in an arc. 15
16 Sonar Transducers in the DE2Bot The DE2Bot has eight ultrasonic distance sensors. Each sensor can measure the distance to the nearest object in front of it. One of 8 transducers 16
17 Basics of Ultrasonic Rangefinding 1. A transducer produces a short burst of sound. 2. That ping travels through the air. 3. The ping bounces off of something and returns. 4. The time-of-flight is measured and converted to distance (using the speed of sound). 17
18 Basics of Ultrasonic Rangefinding 1. A transducer produces a short burst of sound. 2. That ping travels through the air. 3. The ping bounces off of something and returns. 4. The time-of-flight is measured and converted to distance (using the speed of sound). 18
19 Basics of Ultrasonic Rangefinding 1. A transducer produces a short burst of sound. 2. That ping travels through the air. 3. The ping bounces off of something and returns. 4. The time-of-flight is measured and converted to distance (using the speed of sound). 19
20 Basics of Ultrasonic Rangefinding 1. A transducer produces a short burst of sound. 2. That ping travels through the air. 3. The ping bounces off of something and returns. 4. The time-of-flight is measured and converted to distance (using the speed of sound). 20
21 Limitations of Sonar Ultrasonic rangefinders have desirable traits: Cheap, simple, robust, accurate (in good conditions ) But they also have limitations: Low measurement rate and low angular resolution Measurements can be inaccurate, or fail, in some situations Example: difficult to sense angled object: 21
22 Visualizing Sonar Data This figure was generated by rotating the robot and recording a measurement every degree. 22
23 Sonar Data: Box in Hallway Side of box, walls at 90º, and inside corners produce strong reflections. 23
24 Discussion Form groups of 5-6 students What do you see as major strategic or technical choices for this task?
25 What s next Finish Labs 7 & 8 (Simple Computer) Think about the general idea of the project Expect more details by October 28
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