me 224 final project final presentation 12/08/05 david macedonia david storch adam same norbert...

ME 224 Final ProjectME 224 Final Project

Final PresentationFinal Presentation12/08/0512/08/05

David MacedoniaDavid Macedonia

David StorchDavid Storch

Adam SameAdam Same

Norbert WroblewskiNorbert Wroblewski

OverviewOverview

Background/MaterialsBackground/Materials ObjectivesObjectives ActuationActuation CalibrationCalibration Demonstrations of Control/WirelessDemonstrations of Control/Wireless Analysis/ConclusionAnalysis/Conclusion Final ThoughtsFinal Thoughts

Background/MaterialsBackground/Materials

LabVIEW 7.1LabVIEW 7.1• Originally developed for the Apple Originally developed for the Apple

Macintosh in 1986. Macintosh in 1986. • Platform and development environment Platform and development environment

for a visual programming language.for a visual programming language.• used for data acquisition, instrument used for data acquisition, instrument

control, and industrial automation. control, and industrial automation. • Allows for multiple nodes to be working Allows for multiple nodes to be working

at once, therefore capable of parallel at once, therefore capable of parallel processing and execution.processing and execution.

Background/MaterialsBackground/Materials

BASIC StampBASIC Stamp• Microcontroller with a small BASIC interpreter.Microcontroller with a small BASIC interpreter.• It operates at 20 kHz and can handle 4,000 It operates at 20 kHz and can handle 4,000

instructions per second.instructions per second.• BASIC Stamp projects we have found include BASIC Stamp projects we have found include

Door Entry Card Readers, Weather Stations, Door Entry Card Readers, Weather Stations, Electronic Compasses, The TI82 interface, Electronic Compasses, The TI82 interface, Water Volume Meters, and even Garage Door Water Volume Meters, and even Garage Door Openers Openers

Background/MaterialsBackground/Materials

BluetoothBluetooth• Standard for wireless technology.Standard for wireless technology.• Developed by a group of electronics Developed by a group of electronics

manufacturers to enable their electronic manufacturers to enable their electronic equipment to make their own equipment to make their own connections without wires or user connections without wires or user commands.commands.

• Bluetooth can be applied many different Bluetooth can be applied many different electronic devices. electronic devices.

MaterialsMaterials

Gyroscope sensor (ADXRS150EB) from Gyroscope sensor (ADXRS150EB) from Analog DevicesAnalog Devices

EmbeddedBlue eb500 Wireless ModuleEmbeddedBlue eb500 Wireless Module DBT-120 USB Bluetooth adaptorDBT-120 USB Bluetooth adaptor HyperterminalHyperterminal ADC ChipADC Chip

Background/MaterialsBackground/Materials

Parallax Boe-BotParallax Boe-Bot • Popular Popular

programmable programmable robot.robot.

• Distinguishing Distinguishing feature is the Board feature is the Board of Education (BOE), of Education (BOE), which acts as the which acts as the robot’s controller robot’s controller board.board.

ObjectiveObjective Design and implement an experiment to Design and implement an experiment to

realize the wireless control of a realize the wireless control of a commercially available robot.commercially available robot.

Enhance the knowledge of LabVIEW, Data Enhance the knowledge of LabVIEW, Data acquisition, Feedback control, and MEMS acquisition, Feedback control, and MEMS sensing.sensing.

Get an understanding of wireless Get an understanding of wireless communication using Bluetooth communication using Bluetooth technology.technology.

MethodolgyMethodolgy

ActuationActuation• Assemble Boe-BotAssemble Boe-Bot• Center ServomotorsCenter Servomotors

SensingSensing• Calibrating GyroscopeCalibrating Gyroscope

ControlControl• LabVIEW and Basic Stamp programsLabVIEW and Basic Stamp programs

Wireless CommunicationWireless Communication• Bluetooth wirelessBluetooth wireless

ActuationActuation Boe-Bot Assembly

Little assembly required

Servomotor Centering

• CenterServo Program

• PULSEOUT = 750 results in 1.5 ms pulse width and stops motors

Calibration/SensingCalibration/Sensing

Gyroscope Calibration• BASIC Stamp program controlled rotation of Boe-Bot

•Pulse width varied between 650 and 850 with increments of 5•Pause between changes in pulse width •LabVIEW collected gyroscope voltage data

• Data Analysis with Microsoft Excel

Calibration/SensingCalibration/SensingVoltage vs. Time

0.0

0.5

1.0

1.5

2.0

2.5

3.0

3.5

4.0

4.5

5.0

0 10 20 30 40 50 60 70 80

Time (s)

Gy

ro

sc

op

e O

utp

ut

Vo

lta

ge

(V

)

Calibration/SensingCalibration/Sensing

Voltage vs. Angular Velocity

y = -0.6962x + 2.4705

R2 = 0.9993

0.0

0.5

1.0

1.5

2.0

2.5

3.0

3.5

4.0

4.5

5.0

-4.0 -3.0 -2.0 -1.0 0.0 1.0 2.0 3.0 4.0

Angular Velocity (rad/s)

Vo

ut

Calibration/SensingCalibration/Sensing

Determine Optimal PULSEOUT CommandsDetermine Optimal PULSEOUT Commands• Experiment using calibration dataExperiment using calibration data• Fastest servo speeds are inefficientFastest servo speeds are inefficient

Pulse 12 Pulse 13 distance 1 distance 2 distance 3 average time (seconds) velocity (cm/sec)

650 850 54.10 54.20 54.80 54.37 3.00 18.12

675 825 53.00 53.60 53.00 53.20 3.00 17.73

700 800 49.30 49.50 49.90 49.57 3.00 16.52

725 772 30.00 30.00 29.70 29.90 3.00 9.97

750 750 0.00 0.00 0.00 0.00 3.00 0.00

772 725 28.70 28.70 28.80 28.73 3.00 9.58

800 695 49.60 49.70 49.20 49.50 3.00 16.50

825

850

670 52.00 52.00 52.40 52.13 3.00 17.38

650 52.60 52.90 52.90 52.80 3.00 17.60

ControlControl

Dictate Robot Motion Dictate Robot Motion via LabVIEWvia LabVIEW• Automatically Automatically

computes pulses for computes pulses for angle and distance angle and distance commands commands

• Numbers then Numbers then transferred into Basic transferred into Basic StampStamp

Routes to be FollowedRoutes to be Followed

ControlControl

ControlControl

Wireless CommunicationWireless Communication

Establish Initial CommunicationEstablish Initial Communication• Install and initialize Bluetooth driversInstall and initialize Bluetooth drivers• Connect DBT-120 to eb500 card with Connect DBT-120 to eb500 card with

Windows HyperTerminalWindows HyperTerminal

Wireless CommunicationWireless Communication

Monkey See, Monkey DoMonkey See, Monkey Do

Main:Main: SERIN 0,84,[DEC1 CmdData]SERIN 0,84,[DEC1 CmdData] DEBUG DEC1 CmdDataDEBUG DEC1 CmdData BRANCH CmdData,[Hold, Move_Fwd, Turn_Left, Turn_Right, BRANCH CmdData,[Hold, Move_Fwd, Turn_Left, Turn_Right,

move_back]move_back] GOTO MainGOTO Main

Move_Fwd:Move_Fwd: PULSOUT LMotor,LFwdFastPULSOUT LMotor,LFwdFast PULSOUT RMotor,RFwdFastPULSOUT RMotor,RFwdFast SEROUT 1,84,["1"]SEROUT 1,84,["1"] GOTO MainGOTO Main

Turn_Left…Turn_Left…

Wireless CommunicationWireless Communication

Control Robot’s motion with Control Robot’s motion with HyperTerminalHyperTerminal• 9-key BASIC Stamp program9-key BASIC Stamp program• Demonstration...Demonstration...

1 = Slow Left Turn4 = Medium Left Turn7 = Quick Left Turn8 = Forward9 = Quick Right Turn6 = Medium Right Turn3 = Slow Right Turn2 = Backward5 = Hold Position

Wireless Control with HTWireless Control with HT

LabVIEW and BASIC StampLabVIEW and BASIC Stamp

How do we use this: To control this?

LabVIEW and BASIC StampLabVIEW and BASIC Stamp

LabView and BASIC StampLabView and BASIC Stamp

Final Analysis and ResultsFinal Analysis and Results

Accomplishments:Accomplishments:• Assembly, Actuation & Calibration of Assembly, Actuation & Calibration of

Boe-BotBoe-Bot• BASIC Stamp programming to move BASIC Stamp programming to move

along pre-determined pathsalong pre-determined paths• Integration of Bluetooth technologyIntegration of Bluetooth technology• Real-time control with HyperTerminalReal-time control with HyperTerminal• LabVIEW programming to control Boe-LabVIEW programming to control Boe-

Bot motion with BluetoothBot motion with Bluetooth

Final Analysis and ResultsFinal Analysis and Results

ResultsResults• Calibration worked well, gave Calibration worked well, gave

understanding of BS2 programming and understanding of BS2 programming and importance of feedbackimportance of feedback

• HyperTerminal control works flawlesslyHyperTerminal control works flawlessly

• Room for improvement in LabVIEW Room for improvement in LabVIEW controlcontrol

• Unable to establish wireless feedbackUnable to establish wireless feedback

Final ThoughtsFinal Thoughts

Learned about wireless Learned about wireless communication & robot controlcommunication & robot control

Introduced to BASIC Stamp, Introduced to BASIC Stamp, HyperTerminal, LabVIEW, BluetoothHyperTerminal, LabVIEW, Bluetooth

Satisfied with results, still room for Satisfied with results, still room for improvementimprovement

Questions?Questions?