University of Florida Department of Electrical and Computer Engineering Intelligent Machine Design Laboratory EEL 4665 Spring 2013 LOSAT
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1 University of Florida Department of Electrical and Computer Engineering Intelligent Machine Design Laboratory EEL 4665 Spring 2013 LOSAT Brandon J. Patton Instructors: Drs. Antonio Arroyo and Eric Schwartz Teaching Assistants: Ryan Chilton Josh Weaver
2 2 Contents I. Abstract... 3 II. Introduction... 3 III. Integrated System... 3 IV. Mobile Platform... 4 V. Actuation... 5 VI. Sensors... 6 VII. Behaviors... 8 VIII. Experimental Layout and Results... 8 IX. Future Work... Error! Bookmark not defined. X. Conclusion... 9 XI. Documentation... Error! Bookmark not defined. XII. Appendix... 10
3 3 I. Abstract An overview of a robot used to send direct line of sight audio or other signals. The robot uses National instruments LabVIEW software as well as National instruments USB 6009 DAQ hardware. A small netbook runs the software and controls the entire robot. The transitions system uses an audio transformer and a laser pointer. The lasers voltage is varied with the transformer due to an signal input on the opposing side of the transformer. These signals are read with a photovoltaic cell and amplified with a laptop. The laser is mount to a vision contorted turret to keep the transmitter and receiver allied. II. Introduction The primary function of the proposed robot is to locate a designated detector and then position and align a direct line of sight communication system with the detector. The communication system will transmit data/sound in only one direction and consist of a light source and detector. The light source is to be positioned with a two axis turret so that the light shines directly on the detector. Feedback for the turret is to be accomplished using a ps3 eye camera and LabVIEW vision software. Navigation and obstacle avoidances are to be accomplished with LabVIEW and various sensors including the turret mounted camera. The motivation for this type of communication system is security. Since the system works only in a direct line of sight, it is difficult to intercept the signals and if intercepted it could be easily detected. For instance if the system were to be implemented in a two way communication configuration, each end could monitor the received signals. If ever the received signal at one end is intercepted and therefor lost, that end could stop transmitting its data to the other end. III. Integrated System The direct line of sight communication system consists of a laser for the light source and a photovoltaic cell as the receiver. Communication will be accomplished through amplitude modulation of the light sources power supply. Transmitted signals will include sound and may be expanded to included data. An audio transformer in series with the lights powers supply will provide the modulation of the light source. The turret is to be controlled with a combination of Device Craft motor drivers and a NI USB 6009 DAQ and LabVIEW software. LabVIEW was chosen so that the robot could use the full frame rate of the ps3 eye camera (125Hz). A small onboard netbook will be used to run LabVIEW. The vision software tracks the receiver using a color threshold of the receiver s perimeter. It is important that the turret system reacts fast and also has precision control of its position. The turret should react fast enough so that the light beam will stay centered on the target when the robot is underway or if the target is moved as a reasonable speed. Gear motors where chosen for the turret to accomplish this task. Navigation and obstacle avoidances of the robot will be controlled by LabVIEW and various sensors. The sensors are read with the DAQ, while the programing then decides how to actuate the platform and or turret. There are two basic modes of operation, seek the target and lock on to the target. A flow diagram of the complete system can be seen in figure 1.
4 4 IV. Mobile Platform Figure 1 A flow diagram of the robots systems. The mobile platform consists of a simple differentially driven box constructed from wood. It has two drive wheels and one castor located at the rear of the rectangular platform. The platform has an acrylic lid attached to a hinge; this allows the netbook to sits down between two walls where the hinge is attached. The netbook needs to be accessed to start the robots systems. The lid can be opened so that the netbook can be accessed as seen in figure 2. The DAQs, motor drives, and turret system is attached to the lid. Figure 2 The platform open for access to the computer.
5 5 V. Actuation The robot has a total of four actuators, two drive wheels and two turret motors. There is also an optical transmitter used to transmit signals. The drive wheels consist of modified servos. The servo s circuitry was removed and leads were soldered directly to the motors. A Pololu TReX Jr Dual Motor Controller is used to drive the two servos motors. The TRex jr is configured for analog input and controlled by one of the DAQs. The turret consists of two gear motors each with pulleys and a belt. The belt and pulleys are used to minimize the effects of gear lash from the gear motors. Custom mounts were fabricated from wood to house the motors and pulleys. The mounts are connected in a serial fashion. The completed turret can be seen in figure 3. A Pololu TReX Jr Dual Motor Controller is not used for the turret due to the relatively slow refresh rate of 50Hz. The software has a refresh rate around 8ms or 125Hz therefor Device Craft motor drivers are used to drive the turret which are capable of changing output well within 2ms. Figure 3 The turret system with the PS3 eye attached. Note that the PS3 eye is removed from the factory casing. The optical transmitter system consists of an audio transformer and laser pointer. The laser pointers power source is connected serially with one side of the transformer. The other side of the transform is connected to the audio output of the netbook. The system works by modulation the voltage to the laser which causes the light intensity to fluctuate. The fluctuations are read with a photovoltaic cell and amplified with a laptop. A circuit diagram can be seen in figure 4. Figure 4 Optical transmitter circuit user for transmitting audio.
6 6 VI. Sensors Optical Audio Receiver The detector or target will amplify the received audio signal from the light source and play it out loud. Originally the idea for the detector included photo resistors in an active Wheatstone bridge configuration so that half of the bridge is exposed to ambient light, while the other half is exposed to the light signal as well as ambient light. The gage voltage of the bridge would be amplified and processed as the transmitted signal. Potential benefits of this design would be to reduce noise from any ambient light shining on the detector. Currently this method has provided poor results and the focus have shifted to photovoltaic cell. Since the he cell converts light to a dc voltage and the light is being amplitude modulated the cell picks up on the small changes in light intensity. The cell is then directly connected to audio amplifier and those small changers can be heard as sound. Figure 5 A photovoltaic cell that is similar to the cell used for the audio receiver. The cell with pick up small changes in the lights intensity and send those changes to an audio amplifier. Ultrasonic Range Finder The ultrasonic range sensor is used for obstacle avoidances and also known as a sonar sensor. The particular sensor used is LV-MaxSonar-EZ2 MB1020 High Performance Sonar Range Finder The sensor operates with the input voltage of 2.5v - 5.5v and provides very short to long range detection with a resolution of 1inch and maximum range of 254 inches. The sonar has a reading rate of 20Hz with several output types including analog, serial, and pulse width. For this project only the analog output is utilized. This sensor has a low current draw of about 2.0mA A characterization of the sensor can be seen in figure 2 and a picture of the sensor in figure 3. Voltage (V) Distance from Ultrasonic Range Finder (in) Figure 6 ultrasonic range sensor distances vs. voltage graph.
7 7 Figure 7 ultrasonic range sensor used for the robot. Sharp IR Distance Measuring Sensor The GP2Y0A21 IR Sharp distance sensor is used for collision avoidance since it is a close range sensor. It operates with an input vulgate of 4.5v to 5.5v. This sensor has a range of 4 to 32 with an analog output. It typically consumes around 30mA of current. A Characterization of the sensor can be seen in figure 4. 4 Voltage (V) Distance from Ultrasonic IR sensor (in) Figure 8 Sharp IR sensor distances vs. voltage Figure 9 Sharp IR sensor Ps3 Eye Camera The ps3 eye camera is used to obtain an image for vision processing. This camera was chosen due to its high frame rate capabilities. The Ps3 eye is has many operation modes from a resolution of 640x480 to 320x240 and a refresh rate from 15Hz to 125Hz. For this application a resolution of 640x480 is used with a refresh rate of 75Hz the highest for the given resolution.
8 8 Figure 10 Ps3 Eye camera VII. Behaviors The Robot has two primary modes, find the target and track the target once found. When in seek mode the robot will look for the target while driving around and avoiding obstacles. The target is identified by the PS3 eye camera using a color threshold. When the target is found the robot stops and the turret aims towards the target. The laser transmitter is attached to the turret so that the laser point to the middle of cameras view. If the target is moved the turret will follow the target to maintain the laser on the target. VIII. Experimental Layout and Results All data gathered for sensors was performed with LabVIEW software and a National Instruments NI USB-6009 DAQ. The voltages were read off an indicator on the front panel. A screen shot is shown with the code used, note that this code was written for controlling the turret and has many function beyond simply reading an along voltage.
9 9 IX. Conclusion The robot performs as expected, it can successfully seek out and find a target then point the laser as such target. The range in witch data can be transmitted is significantly greater than the range at which the turret can accurately locate the target. Therefor the system only works within a max range of 20 feet or so. The receiver also seems to get quite a bit of noise from interior lighting. The 60Hz pulsing of the lights get amplified when the receiver is position at a light source. Future work includes adding a software filter to the receiver to pervert interior light from interfering. Additional work could also be done to the receiver to improve it crude design.. If starting the project over I would choose a more powerful computer for the vision processing. The netbook worked fine but could not take full advantage of the hardware.
10 10 X. Appendix Since LabVIEW is a Vision programing based software it is very difficult to show all of the programing therefor theses screen shots and the two main loops that control each DAQ.
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