Urban Search and Rescue Robot
Development
10/05/13
The Vice Chancellor
University of Warwick
Introduction
Chassis
Sensors
and
Devices
Power
System
Control
System
Testing
Sponsorship
and Publicity
Overview
• About WMR
• Objectives
• Development
–
–
–
–
Chassis
Power System
Sensors and Devices
Control System
• Testing
• Publicity, Sponsorship and Finance
• Conclusions and Recommendations
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
WMR – The Team
Edgars Zauls
Lewis Judd
Michael Tayler-Grint
Project Manager
Mechanics - Chassis
Health & Safety Officer
Electronics - Power
Secretary
Nick Orlowski
Kris Buckstone
Electronics - Sensors Mechanics – Control System
Web & Communications
Finance Officer
Officer
Rachele Williams
Modelling & Testing
Sponsorship &
Publicity Officer
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
What is WMR?
• Tele-operated Urban Search and Rescue Robot
CO2 sensor
Infrared
(IR) camera
Gripper
LiDAR laser
scanner
Tracks &
flippers
Two-way
audio
Front and
rear cameras
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Aims
• Enter the World RoboCup Rescue
competition in June, building on previous
teams’ success at the European level.
• Improve the commercial viability of the
design by eliminating key weaknesses in
the existing prototype.
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Approach to development
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Objectives for 2012/2013
Increase
chassis
strength to
withstand
0.3m drops
Reduce head
vibration
Eliminate
recurring
electrical
failures
Improved
reliability
of the
system
Develop a
better way to
control the
arm
Develop an
intuitive user
interface
Improved
operator
control &
awareness
Provide
feedback
from sensors
and batteries
Carry out a
full system
test in a
realistic
scenario
Take
weatherproofing
measures
Progress
towards
real-world
readiness
Redesign the
battery
system to be
easier to use
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Sub-systems
• Work split into 4 key areas:
– Chassis – mechanical frame, shell, brackets,
shafts
– Power System – batteries, power distribution
and wiring
– Sensors and Devices – victim identification,
sensor head, gripper, encoders and actuators
– Control System – software running on the
robot and the operator station
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Chassis - Aims
Reduce weight
Increase strength
Lower centre of mass
Flipper bracket redesign
Reposition the batteries
Weather-proofing
Figure Source: Blanch, K. et al. Warwick Mobile Robotics: Technical Report [May 2012]
Conclusions and
Recommendations
Introduction
Chassis
Impact
resistant shell
Batteries moved
inside
Power
System
Sensors
and
Devices
Motor clamps
added
Rear flipper
motor lowered
Weight reduction of 23%
Control
System
Testing
Reduced weight
for arm plate
Computer
protection
Sponsorship
and Publicity
Width
increased
Space
frame side
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Flipper Motor Bracket
2012
2010/11
2013
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Power System
• Power board
Power
switching
I2C
ports
– Smaller
– More powerful
– More reliable
– Well labelled!
• Wiring
– Documented
DC-DC power
converters
mbed controller
(on reverse)
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Wiring Diagram
Sponsorship
and Publicity
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Power System
• Battery monitoring
– Protects against a variety of faults
– Permanently connected
– Automatically disconnects battery
– Provides fuel-gauging information to operator
Battery and
charger
connectors
Fuel gauging IC
(on reverse)
Cell
monitoring IC
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Sensors and Devices
• LiDAR laser scanner
• Inertial Measurement
Unit (IMU)
• Web Cameras
• Infrared Camera
• CO2 Sensor
• Flipper Encoders
• Pan-tilt Servos
• Gripper
2D Map created by LiDAR
Gripping a water bottle
Conclusions and
Recommendations
Introduction
Power
System
Chassis
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Sensors and Devices
• Weight reduction of 29%
New Head
– sliding lid
New Head
Previous Head
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Control System
• Objectives:
– Improve Operator Awareness
– Improve Ease of Use
• Actions:
– Inverse Kinematics
– Controller Layout
– Collision Detection
– 3D Representation
Remote operator at competition
Toppling from a step field
Both Figure Sources: Winkvist, S. Warwick Mobile Robotics: Robocup Rescue 2012 – Madeburg [30th March 2012]
http://www2.warwick.ac.uk/fac/sci/eng/meng/wmr/media/at-the-competitions/robocup_rescue_2012_magdeburg/news/
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Inverse Kinematics
ଶ cos ିଵ
ଶ ଵ ଶ ଶ ଶ
2ଵ ଶ
ଵ tanିଵ
ଶ sin ଶ
ଶ cos ଶ ଵ
ଷ ଵ ଶ
r
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Graphical User Interface (GUI)
Figure Source: Blanch, K. et al. Warwick Mobile Robotics: Technical Report [May 2012]
Step field navigation
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Graphical User Interface (GUI)
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Testing
• Structured testing at Remotec’s assault
course
• Aims:
– Measure improvement
– Predict competition performance
• First WMR team to perform full system
testing before competition
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Testing Review
• Successes
– Improved ease of use
– Increased reliability on start up
– Good indication for competition performance
• Problems
– Debris in tracks
– Vibrations
– Driver inexperience – motor damage
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Sponsorship
• Sponsorship strategy in line with our aims
1. “Attend RoboCup Competition 2013”
The Vice Chancellor
University of Warwick
2. “Improve the existing design for
commercial viability”
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Publicity
• Imagineering Fair • Press releases
– Local papers
– maxon motor
Figure Source: Low, M. WMG: Shaping the Future [October
2012]
http://www2.warwick.ac.uk/fac/sci/wmg/about/outreach/i
magineering/
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Finance – Labour and Material Costs
Miscellaneous £6816.47
Chassis –
£12,147.98
Competition £5,760
Power System £5,426.32
Sponsorship &
Publicity - £4,657
Sensors & Devices £3,723.82
Reports - £10,410
Total Cost - £54,821.59
Assembly & Testing £2,880
Control System £3,000
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions
• Significant reliability improvement
• Greatly enhanced operator controls
• Outdoors test accomplished
• Prediction of competition performance
– Strong mobility and manipulation
– Weak autonomy
Conclusions and
Recommendations
Introduction
Chassis
Power
System
Sensors
and
Devices
Control
System
Testing
Sponsorship
and Publicity
Conclusions and
Recommendations
Recommendations for Further Work
• Solid platform for autonomy development
• Track debris control
• Increased communications range
Thank you for your attention