Urban Search and Rescue Robotics
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Urban Search and Rescue Robotics Introduction Introduction Approach Technical Improvements Competition Sponsorship Contents • Introduction • Technical Improvements • RoboCup Rescue Competition • Publicity and Sponsorship • Finance • Conclusions • Recommendations for Future Work Finances Conclusions & Recommendations Introduction Introduction Approach Technical Improvements Competition Sponsorship The Project • Urban Search and Rescue Robotics • Construction of Tele-Operated Robot • An Evolution of WMR Finances Conclusions & Recommendations Introduction Introduction Approach Technical Improvements Competition Sponsorship The Team Kyle Blanch Project Manager Simon Yeung H & S Officer Joe Tomita CAD Lead Ethan Fowler Systems Lead Sam Johnston Finance Officer Tim Bradley Sponsorship Off. Anirudh Vijay Publicity Officer Mechanical Team Tobias Burgess Secretary Software and Electronics Team Finances Conclusions & Recommendations Introduction Technical Approach Approach Improvements Competition Sponsorship Finances Conclusions & Recommendations Project Approach 2010/2011 Robot SWOT Identified Improvements Aims & Objectives • Re-engineer the 2010/2011 robot to deliver a greater level of performance in terms of functionality and reliability • Successfully compete in the 2012 German Open RoboCup Rescue Competition and the associated mobility and manipulation challenges Lower Level Targets • Set Specifications and Goals Prioritised Improvements Introduction Approach Technical Technical Improvements Improvements Competition Sponsorship Finances Conclusions & Recommendations The Mechanical Arm • 5 revolute joints move the sensory elements and gripper into positions that will allow victims to be identified and supported Introduction Approach Technical Technical Improvements Improvements Competition Sponsorship Finances Conclusions & Recommendations Design Aims • Redistribute weight to reduce the inertia of the arm • Reduce levels of backlash in the arm joints • Modular Design of the arm assembly for ease of manufacture Introduction Approach Technical Technical Improvements Improvements Competition Sponsorship Design Changes • The following design changes were made to increase the reliability and functionality of the arm: Finances Conclusions & Recommendations Introduction Approach Technical Technical Improvements Improvements Competition Sponsorship Finances Conclusions & Recommendations Arm Manufacture and Testing • Individual Parts, Assembly files and Technical drawings created • FEA analysis carried out on critical parts • Testing of shoulder and elbow joints before the competition Introduction Approach Technical Technical Improvements Improvements Competition Sponsorship Finances Conclusions & Recommendations Arm Control Methods Joint Control User Inverse Kinematics User Observes Estimates required joints Observes All Current Limb Positions Controller Input Current Head Position Controller Input Interpretation Goal Configuration Desired Change in Joint Angles Interpretation Desired Change in Position Goal Position Motor control Inverse Kinematics Enact Solution Geometric Solutions Joint Angle Limits Possible Solutions Weighted Joint Importance Enact Solution Motor control Best Solution Introduction Approach Technical Technical Improvements Improvements Competition Sensor Locations • CO2 Sensor • IR Camera • RGB (IP) Camera • Duplex Audio • Illumination LED • Gripper • xSens Module • LiDAR Sponsorship Finances Conclusions & Recommendations Introduction Approach Technical Technical Improvements Improvements Competition Sponsorship Finances Mapping and 3D Scanning • Mapping hugely useful • 2D plane from LiDAR • Map constructed (SLAM) • 3D scan by combination with xSens data • 3D SLAM very difficult • Stephan Winkvist’s PhD proof of concept Conclusions & Recommendations Introduction Approach Technical Technical Improvements Improvements User Interface Competition Sponsorship Finances Conclusions & Recommendations Introduction Approach Technical Improvements Competition Competition Sponsorship Finances RoboCup Rescue Competition Conclusions & Recommendations Introduction Approach Technical Improvements Competition Competition Sponsorship Finances Conclusions & Recommendations Awards 2nd Place Overall Best in Class for Manipulation Best In Class for Mobility Introduction Approach Technical Improvements Competition Competition Sponsorship Robot Issues Problems • Software Feedback • Camera Positioning Solutions • Centre of gravity, Visual Representation • Higher Fixed Driving Position Finances Conclusions & Recommendations Introduction Approach Technical Improvements Competition Sponsorship Sponsorship Finances Conclusions & Recommendations Sponsorship • Used sponsorship pack, leaflets and specialised e-mails • Total of £11,500 generated along with other non monetary support • Sponsors for 2011/2012: The Vice Chancellor The University of Warwick Introduction Approach Technical Improvements Competition Sponsorship Sponsorship Finances Conclusions & Recommendations Publicity Events Outreach Program Antennae Live at The Science Museum Introduction Approach Technical Improvements Competition Sponsorship Sponsorship Finances Conclusions & Recommendations Media Presence Format Publisher Date Published Coventry Telegraph Mar-12 Manchester evening News Liverpool Echo Newspaper Coventry Telegraph Evesham Observer Apr-12 Evesham Journal The Boar Warwick University Mar-12 Culture 24 Talk Science Museum Learning View London Websites Referenced in BBC Article “Kinect for Windows gesture sensor launched by Microsoft” Feb-12 Rex Press Agency London Mums Science Business BBC Focus Magazine (66,445 readers) Mar-12 Facebook and Twitter Nov-11 Other Introduction Approach Technical Improvements Competition Sponsorship Finances Finances Conclusions & Recommendations Finance – Areas of Expenditure £365.21 £1502 Admin £2604.40 Arm £635.92 Chassis Electronics £634.98 Office Equipment Robocup £114.50 £4.83 Sensors Travel £3786.33 Introduction Approach Technical Improvements Competition Sponsorship Finances Summary 1) The Robotic Arm was the biggest improvement 2) Electronic reliability was improved in the stack and wiring 3) A lack of remote operator feedback and awareness is evident 4) Arm manufacturing delays led to limited testing 5) Achieved at RoboCup Rescue 2012 German Open: • • • 2nd Place Overall Best in Class Mobility Best in Class Manipulation Conclusions Conclusions && Recommendations Recommendations Introduction Approach Technical Improvements Competition Sponsorship Finances Conclusions Conclusions && Recommendations Recommendations Conclusions • Publicity should be independent of project progress • Both internal and external lead-times are unpredictable • Stress analysis of isotropic sintered materials inaccurate • Geometric accuracy of rapid-prototyped parts can be poor • Cantilever loading is a strong source of worm-drive backlash Introduction Approach Technical Improvements Competition Sponsorship Finances Conclusions Conclusions && Recommendations Recommendations Recommendations for Future Teams • Mounting of webcam to view the robot and surroundings • Additional degree of freedom in arm (rotation in the x-axis) • Implement a 3D visual representation and Centre of Gravity • Redesign the robot chassis to aid flipper motion • Greater expertise in electronics, software and coding • Partnership with another institution Introduction Approach Technical Improvements Competition Sponsorship Finances Conclusions Conclusions && Recommendations Recommendations Thank you for listening Feel free to ask any questions, or request a specific feature demonstration
