1

David Buckles
Brian Walsh
Advisor:
Dr. Malinowski
2

Outline




Project Summary
Project Description
Progress
Schedule of Tasks
3

Project Summary



A pioneer 3D-X robot shall map an environment in openGL.
This map shall be displayed on an
LCD eyepiece in real time.
The robot shall navigate an environment using potential field planning or direct manual control via a sensor glove.
4

Project Description
Human Interface System Block Diagram
5

Project Description
Robot System Block Diagram
6

Project Description - Goals




Mapping the robot’s current environment in 3D, in real time, and utilizing OpenGL to display the data on an LCD eyepiece to provide visual feedback
Provide user override of the automated navigation systems via a glove with sensors and software with feature recognition
Implement a sensor (possibly ultrasonic) to detect ceiling height
Implement a grasping device controllable by the sensing glove
7

Project Description - Goals


If time permits, attach a 2 degree of freedom robotic arm to the grasping device, also controllable via sensor glove with feature recognition
Implement Potential Field planning as a method for the robot to navigate and map its environment
8

Project Description





Hand sensors shall have < 3 degrees/second of drift.
Eyepiece shall have a 12 Hz refresh rate.
Eyepiece shall have 180 degree range of vision with 5 degree accuracy.
Robot shall be able to measure walls within 20 to 150 cm with 2 cm accuracy.
Robot shall be able to measure ceiling within 3 m with 5 cm accuracy.
9

Progress






ARIA is set-up on lab computer
Potential Field Algorithm is beginning to be utilized
Joystick manual override being developed
Wall Creation Algorithm
Ceiling Sensor
Eyepiece
10

Progress





Sensor glove drivers
Sensor glove data
Communication protocol
Robot arm interface
Tracking algorithm
11

Progress
Sensor Glove
12

Progress
Servo
13

Progress
Servo
14

Progress
Glove Accelerometer Axis
15

Progress
Robot Arm
16

Progress
Servo
17

Progress
PWM Control Scheme of Servos
18

Progress
Flowchart of Hand Sensor Calibration
19

Progress
Flowchart of Hand Sensor Control Scheme
20

Schedule of Tasks
Week Hardware - David
1/25 Test and interface robot arm
2/1 Test and interface Dataglove
2/8 Begin to integrate Dataglove
Software - Brian
Set-up ARIA on lab computer
Robot Simulation/SNOW
Robot Simulation
2/15 Begin to integrate robot arm
2/22
Integrate Dataglove & robot arm systems
3/1-
3/8
Attempt to combine ARIA and openGL
Begin multi threading
Test Accuracy of Accelerometer,
Digital Compass, and Gyroscope Finish multithreading
3/22-
3/2
9 Filter Construction Ceiling detection
4/5 Filter Construction
4/12 Integrate LCD headpiece
4/19 System Integration
4/26openGL to headpiece
Replace joystick control with hand
Debug hand interface
Compile Final Report
21

Questions?
22

Answers
• 5-Degree of Freedom Combo Board:
2-axis 500 degree gyroscope
IDG500
• 3-axis 3g accelerometer
ADXL335
• 3-Degree of Freedom Digital Compass on Breakout Board
HMC5843
• DGV-5 Dataglove
23