project cybot - ongo01 december 12, 2001 project leaders: sath sivasothy caleb huitt faculty...
TRANSCRIPT
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Project Cybot - Ongo01
December 12, 2001
Project Leaders:• Sath Sivasothy• Caleb Huitt
Faculty Advisor:• Dr. Ralph Patterson
Client:• Department of Electircal and Computer Engineering
Acknowledgements:• Dr. Lawrence Genalo
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Presentation Outline• Overview • Sensors• Power• End-Effector• Motion Control• Software• Interactive Learning• Summary
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Introduction
OSCAR (Concept) OSCAR (Current)
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Team Cybot History- Once a club
- Robots:Zorba - No longer exists
Cybot - Department Ambassador- Many demonstrations- Now failing
OSCAR - Newest robot- Being designed and built
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Organization• Six subteams
• Sensors • Power• End-Effector• Motion Control• Software• Interactive Learning (New Addition)
• Weekly subteam meetings
• Weekly team leader meetings
• E-mail mailing lists
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Subteam Interaction
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Previous AccomplishmentsCybot:
• Complete motion control
• Moving arm
• Speech and voice recognition• Many and complex demonstrations
OSCAR:• Complete design
• Motion control
• Sensors installed
• Gripper fabricated
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Beginning of the SemesterCybot:
• Motion control inoperable• Arm stopped working over summer• Speech still works• Very few demonstrations work
OSCAR:• Motion control nearly complete• Few demonstrations• Sensors usually working• Arm design nearly complete• Solid power system• Few people know about robot
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End GoalsCybot:
• Restore to previous functionality
OSCAR:• Robot can accomplish tasks autonomously
• Speech control and interaction
• Internet interface for remote learning
• Ability to demonstrate with a few minutes notice
• Take over Cybot’s role as ambassador
• Become famous (at least on campus)
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Semester GoalsConcentrate on OSCAR:
• Motion control stabalized• Sonar sensors working• New sensors installed• Easier robot control:
- Voice
- Arrow keys• New computer power supply• Finish arm design• Manufacture more of arm• Investigate ways to get robots “heard about”• Give demonstrations of robots
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Risks and Concerns• Problems with previous work
• Hardware breakdown
• Time available
• Personnel problems
• Technical knowledge
• Demonstrations
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Risk Management• Test early
• Deal with it as the problems arise
• Schedule properly
• Stay flexible in assignments
• Good documentation
• Keep Cybot as functional as possible
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Questions
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Sensors Team
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Sensors TeamTeam Members:
• Chris Hutchinson (CprE, 2nd) - team leader
• Adam Kasper (CprE, 2nd)
• Saw Meng-Soo (CprE, 2nd)
• Waqar Habib (EE, 1st)
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Problem Statement• Provide sensing capabilities
• Finish sonar system
• Add compass and temperature sensors
• Determine accuracy and limits
• Finalize software interface
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Design Objectives• Modular design
• Future expandability
• Low power consumption
• Provide accurate data
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Assumptions and LimitationsAssumptions:
• Only one sensing function at a time
• Only one active transducer at a time
Limitations:• Sonar effective from 1.5 to 35 feet
• EM interference affects compass
• Limited microcontroller I/O pins
• Limited power and space
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Risks and Concerns• Part damage
• Electromagnetic interference
• Inconsistent data
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End Product Description• Distance sensing within +/- 3%
• Temperature sensing within +/- 2° F
• Data filtering
• Reliable software interface
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Technical ApproachCompletion of sonar system:
• Multiplex with programmable logic
• Permanently mount all components
• Tweek for accuracy
• Determine limits
TransducerBasicX-24
Microcontroller
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Technical ApproachAddition of new sensors:
• Thermistor for temperature sensing
• Dinsmore 1655 Analog Compass
• Tweek for accuracy (ongoing)
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Technical ApproachSoftware Interface:
• Serial communication
• Modular / scaleable design
• Simple implementation
• Interface protocol -
1 byte 1 byte 1 byte
ATN Command Operand(s)
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Completed System
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Problems Encountered• Damaged programmable logic chip
• Memory issues
• Sonar noise
• Transducer dissipation
• Inaccurate compass
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Evaluation of Success• Software interface implemented
• Integration of new sensors
• Accurate and reliable reporting of data
• Met financial and time budgets
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Future Work• Data accuracy
• Efficiently utilize sensors
• Additional sensors:
- Video imaging
- Tactile / Pressure
- Infrared
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Lessons Learned• Experience with the BX-24 microcontroller
• Implementation of analog and digital sensors
• Demonstrations with large groups
• Things break – roll with the punches
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Summary• Sensor system is fully functional
• OSCAR has the power to interact
• Ready for further sensing capability
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Questions
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Demonstrations• Sonar sensors
• Compass sensor
• Thermistor
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Power Team
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Power TeamTeam Members:
• Nicholas Sternowski (EE, 2nd) - team leader
• Kris Kunze (EE, 1st)
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Design Objectives
• Install new batteries
• Replace DC/AC inverter
• Build/Test/Install DC/DC converter
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Assumptions and LimitationsAssumptions:
• Batteries in good working condition
Limitations:• Batteries can only be run down to 50%
• Initial power system design not available
• Limited budget
•No experience with PCB fab
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Risks and Concerns• Short circuit
• Power system with charger
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Technical Approach• Cheaper is better!
• Utilize readily available batteries
• Parallel DC/DC converters
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Technical Approach
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Technical Approach
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Technical Approach
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Problems Encountered• PCB fabrication
• Part order delays
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Evaluation of Success• DC/DC converter design determined
• PCB fabrication
• Parts ordered
• Batteries installed & functioning
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Future Work• Completing of DC/DC converter
• Provide power to sensor, end effector teams
• System protection
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Lessons Learned• Power supply operation
• Slow drain on batteries cause failure
• PCB fabrication
• Minimum order requirements are a killer
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Summary• Didn’t meet all goals
• Work needed identified
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Questions
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End-Effector Team
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End-Effector TeamTeam Members:• Jet Ming Woo (EE – 2nd ) – team leader
• Alex Mohning (ME – ME 466 )
• Alex Rodrigues (ME – ME 466)
• Chris Trampel (EE – 1st)
• Yan Chak Cheung (EE – 1st)
• Jim Schuster (Cpre – 1st)
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Design Objectives• Full range of movement• Move at reasonable speed• Lift 2 lb objects
− 1 lb at full arm extension• Lift 3” diameter objects• Controlled by OSCAR’s central computer • Modular approach
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Assumptions and LimitationsAssumptions:
• Sufficient funding for the fabrication of arm All motors will operate at 12 volts
Limitations:• Arm pivoted on top of OSCAR
• Use JAVA to write the program
• 12V available for gripper
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Risks and Concerns• Cost of development
• Availability of parts
• Power Consumption of motors
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Risk Management• Search for cheaper parts
• Buy parts over several semesters
• Look for cheaper designs
• Buy widely used motors at the start of the semester after designing the arm
• Search for parts with low power consumption
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Technical Approach• Assembly and testing of the gripperAssembly and testing of the gripper
• RResearch on existing control circuitsesearch on existing control circuits
• Develop software and electronic control Develop software and electronic control circuitscircuits
• Develop detailed drawings and Develop detailed drawings and schematics for the wristschematics for the wrist
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Wrist Control Circuit
PC
MotionControllerLM 629
Half-BridgeMOSFET Driver
LT 1158Half-Bridge
DCWristMotor
MotionControllerLM 629
Half-BridgeMOSFET Driver
LT 1158Half-Bridge
PWM
PWM
Quadrature Incremental Feedback
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Gripper Control Circuit
PCDC
GripperMotor
4 Phase StepperMotor DriveUCN 5804B
Dual Full BridgeMotor DriverUDN2998W
Inductance to Resistance Drive Card
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Gripper Design• Stepper actuatorStepper actuator
– InexpensiveInexpensive– CompactCompact– Linear drive Linear drive without transmissionwithout transmission
• Linkages easy to Linkages easy to manufacturemanufacture• Interchangeable Interchangeable fingersfingers
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Overall Design
• Arm will pivot on Arm will pivot on top-center of OSCARtop-center of OSCAR
• Aluminum linksAluminum links
• Joints use modular Joints use modular worm gear assemblyworm gear assembly
• Driven by Pittman Driven by Pittman DC motorsDC motors
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Wrist Design
• 360º rotation360º rotation
• 270º bend at wrist 270º bend at wrist jointjoint
• Separate motors for Separate motors for bend and rotationbend and rotation
• Utilizes similar Utilizes similar components as rest of components as rest of armarm
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Worm Drive for Bend
• Pittman DC motorPittman DC motor
– Reduced speedReduced speed
– Readily availableReadily available
– ReliableReliable
• Worm assemblyWorm assembly
– Dramatic torque gainsDramatic torque gains
– No back drive – save No back drive – save powerpower
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Gear Drive for Twist
• Spur gear driveSpur gear drive
– Reduced speedReduced speed
– Torque gainsTorque gains
– Linear transmissionLinear transmission
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Problems Encountered• Lost of financial sources
• Team members not familiar with JAVA
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Evaluation of Success• Motor installed in gripper and functional
• Control circuit for gripper is ready
• Gripper’s software is almost done
• Wrist design completed
• Wrist control circuit schematic is drawn
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Future Work• Draw layout of circuit using PCB program
• Build the control circuit boards for all motors
• Modify wrist design
• Machine and assemble the arm
• Software for the arm
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Lessons Learned• Program and test I/O card on OSCAR
• JAVA language
• H-bridge
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Summary• Gripper motor installed and functioning Gripper motor installed and functioning
• Wrist design is detailed and completedWrist design is detailed and completed
• Future work planned for the completion Future work planned for the completion of armof arm
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Questions
4.00”
3.75”
8.5”
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Demonstrations• Gripper
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Motion Control Team
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Motion Control Team
Members:
• Rius Tanadi (EE – 2nd ) – team leader
• Brooks Graner (CprE – 1st )
• Boon-Siang Cheah (CprE – 1st )
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Problem Statement
• Robot movement
• Hardware broken/unstable
• Further research on new circuit implementation
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Design Objectives
• Debug and maintain motion control
hardware
• Reliable software interface
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End Product Description
• OSCAR’s motion will be fully operational
• Improve motion control design
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Assumptions and Limitations• Original assumptions
– Old software/hardware validated
• Limitations
– Robot breaks down
– Robot used for presentations
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Risks and Concerns• Short circuit
• Over-heating components
• Loss of current members
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System OverviewSubsystem block diagram
Computer
Motion Control Subsystem
Motor(s)
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Technical Approach
CPU
Motor
CPU Interface
Motion Controller
Motor Driver
Motion Detector
Motion control subsystem
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Technical Approach
• Motion control circuitry will be
debugged and tested
- Individual/component testing
- Sub-system testing
• Reliable software interface will be
created
- Create GUI
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Evaluation of Success• Robots
- Debug OSCAR (partially met)
- GUI interface (met)
• Budget
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Additional Work• Test the remaining components
• Trace motion control design
• Aid end-effector team
• Research on circuit implementations
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Lessons Learned
• Debug
- Isolation of variables
- Component validation
• Interact with people
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Summary• OSCAR debug is still in progress
• Clean up all the design flaws
• Research for a better design
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Questions
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Software Team
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Software TeamTeam Members:
• Caleb Huitt (CprE, 2nd) - team leader
• Muhammad Saad Safiullah (CprE, 2nd)
• Anthony Bozeman (CprE, 2nd)
• Sastra Winarta (CprE, 1st)
• John Wyman (CprE, volunteer)
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Problem Statement• Provide easy SW motion control
• Provide voice control
• Use sensor information
• Develop demonstrations
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Design Objectives• Modular design
• Easily Expandable
• Separates drivers from logic
• Allows component testing
• Accessable interfaces
• Consistent techniques
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Assumptions and LimitationsAssumptions:
• Operators have basic computer skills
• Subteam members have basic programming skills
• Software developed for properly functioning hardware
Limitations:• Current documentation is incomplete
• Much time needed to learn subsystem
• Hardware breakdowns limit software testing
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Risks and Concerns• Hardware insufficient/inconsistent
• Members without needed experience
• Interoperability problems
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Risk Management• Investigate hardware early
• Detail necessary & optional purchases
• Provide explanatory papers
• Provide research tasks
• Iterative design approach
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End Product Description• Verify motion control driver code
• Allow arrow keys to control motion
• Implement voice control
• Expand sensor software
• Integrate sensor software
• Develop new demonstrations
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Technical Approach• Three-tier software design
• Modular
• Extensible
• Programming languages based on needs• C for drivers
• Java for higher levels
• Use previously developed solutions
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Technical ApproachSoftware Three-Tier Approach:
Second Tier (Application Logic)
Third Tier (User Interface Logic)
First Tier (Direct Control Software)
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Technical Approach• Motion control drivers tested/debugged
• Use JDK for IBM’s ViaVoice
• Sensors:• Communication over serial port• Protocol defined by Sensors subteam
• Arm driver design based on motion control’s
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Problems Encountered• Motion Control subteam debugging
• Sound card problems
• Previous sensors software unusable
• Java programming problems
• Volunteer stopped after 1/2 semester
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Evaluation of Success• Motion control software debugged
• Arrow key motion software working
• Sensors software interface rewritten
• Voice control software working
• Goals not completely met
• Many problems overcome
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Future Work• Software for end-effector
• Speech synthesis
• Integrate sensors data
• Develop more demonstrations
• Work on autonomous navigation
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Lessons Learned• Motion control implementation
• Java programming language
• IBM’s ViaVoice technology
• Serial port communication
• Software keystroke detection
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Summary• Didn’t meet all goals
• Overcame a variety of problems
• Have much work to do in the future
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Questions
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Demonstrations• Arrow key control of motion
• Voice control proof-of-concept
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Interactive Learning Team
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Interactive Learning TeamTeam Members:
• Kivanc Kahya (CprE, 1st) - team leader
• John Davidson (CprE, 1st)
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Design Objectives• Initiate educational system using OSCAR
• Develop robotics education curriculum
• Initiate Internet-based remote control system
• Add additional functionality (if required)
• Consider using LEGO® Mindstorms robots
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Assumptions and LimitationsAssumptions:
• OSCAR will soon be fully functional
• Required technologies are available
• Client will be found
Limitations:• Client’s current technology infrastructure
• Number of students using the system simultaneously
• Funding
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Risks and Concerns• Integration of additional hardware/software
• Qualified robotics teacher for client
• Too many interested clients
• Client may lack necessary technology
• Complicated programming interface
• Lack of experience in design team
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Risk Management• Assistance from Toying with Technology
• Well defined software design process
• Peer reviews
• Detailed software test procedures
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Technical Approach• Technology
• Internet-based remote control system
• Inter-communication between multiple robots
• Educational Materials
• Structured exercises
• Robotics workshops
• Sponsorship of robotics competitions
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Problems Encountered• Excessive time spent on initial documentation
• Delayed contact responses
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Evaluation of Success• Team poster completed
• Gathered significant information
• Objectives accomplished
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Future Work• Conceptual design
• Software system requirements
• Develop robotics curriculum
• Search for funding
• Develop demonstrations
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Lessons Learned• Initiating a project without clear understanding of
the problem is difficult
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Summary• Interactive learning project initiated
• Compiled information sufficient to initiate development
• Met all semester goals
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Questions
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Financial Budget
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Effort Budget
1100
1150
1200
1250
1300
1350
1400
Hours
Estimated Budget Actual Budget
Overall Effort Budget
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Semester Accomplishments• Thermal/compass/distance sensors
• Motion control GUI
• Wrist design
• DC/DC converter design
• Strategic planning
• Voice Control
• Successful Demonstrations
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Future Goals• Implement DC/DC converter
• Manufacture remainder of arm
• Achieve compass/sensor accuracy
• Implement sensors software
• Implement end-effector software
• Continue and improve demonstrations
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Overall Summary• Completed documentation
• Effective team communication
• Overcame unexpected problems
• Stayed well under budget
• Semester was a success
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Final Questions