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Team of Omnidirectional Robots for Cooperative Tasks
Senior Design 2011Group 01
Members: Josh ClausmanPeter MartinsonSeth Beinhart
Advisors: Dr. Nicola EliaMatt Griffith
Client: Department of Electrical and Computer EngineeringIowa State University
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Problem StatementTo build a third omnidirectional robot for Dr.
Nicola Elia’s research on cooperative tasks in distributed robotics
Robot design should be simple enough so that additional robots can be easily produced
Overcome power system, wheel design and computational limitations of previous designs
Cooperative tasks using robots as time permitsOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman,
Martinson
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Concept Diagram adopted from May-09-05 Senior Design Group
Concept Diagram
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Functional RequirementsMovement
2.1.1.1: Speed - 2 m/s2.1.1.2: Acceleration - 6
m/s22.1.1.3: Omnidirectional2.1.3.1: Relative position
± 2cm wheel encodersCommunication
2.1.2.1: 802.11-G (WiFi)2.1.3.2: Localization
packets
The power system:2.1.4.1: CPU Module:
5V ± 5% @ 4A2.1.4.4: Other: 3.3V ±
5% @ 2A2.1.5.2: Motor: 6-14V @
12AMotor Control
2.1.5.1 Quadrature encoders
2.1.5.4 Reconfigurable control loop
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Non-functional RequirementsPhysical
2.2.1.1: Weight < 1.5 kg2.2.1.2: 18cm diameter, 15cm tall
Computer Hardware2.2.2.1: x86 architecture2.2.2.2: Floating Point
Unit2.2.2.3: PC/104+2.2.2.4: $2000 or less
Power System2.2.3.1: Battery over
dischargeIntegration
2.2.5.1: Localization system
2.2.5.2: Upload code/commands
2.2.5.3: Linux2.2.5.4: Run old code
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
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Assumptions and LimitationsAssumptions
Old bots can handle new collaborative tasksx-y-z coordinate system will be availableRobots constrained to 'playing area'
LimitationsGroup size - previously groups of 6-7Backwards compatibilityRequired physical similaritiesCamera delay (200 ms)
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Market SurveyThe Robocup competition Cornell has the most recognized design and
had been reference heavily when designing our robot.
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Risks and MitigationsRisks MitigationPower board design
could fail
Inability to interface with legacy system
Future groups not being able to use our system
Advisor design review
Work closely with advisor Matt Griffith who is experienced with legacy system
Good documentation practices
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Cost Estimation
Physical Computer Hardware
Wheels* $200.00 CPU Board $565.00
Motors* $1,000.00 Motor Controller $229.00
Frame* $50.00 Motor Drivers X2 $119.90
Ball Launcher $50.00 TTL to RS232 $9.99Power System 802.11-G card $49.99
Batteries $107.98 IMU $125.00
Board* $50.00 I/O Board $169.00
Compact Flash Card* $20.00
Total Cost $2,695.86
Parts with (*) have not been ordered and prices are approximate
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Power System
Power Board Motor Driver
MotorBatteries
Physical System
FrameDrive train
Wheels
Computer Hardware
CPU
PC/104+Motor
Controller
I/O Board
Wireless PC
/104
OTH
ER I/OIMU
Wheel Encode
r
Software System
Legacy System
APIs
Drivers
Linux Kernel
Design Overview
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Software OverviewSoftware System
APIs
Drivers
Linux Kernel
Legacy System
Linux Desktop
Feature-rich legacy softwareGUI for controlAI development
environmentAI run control logic for
robotAPIs called from AIAPIs call drivers for
devicesEverything run on Linux
kernel on robot
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Design: LegacyAIs
Control program development environmentMakefile
ServicesHidden from programmerProcessing wireless packets, reading sensors,
motor controlCross Compilation
AIs compiled on Linux desktopCompilation flags for Atom N270
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Design: Drivers, APIDrivers
Motor controllerIMUIO Board
APIMotor control
void MotorController::initMotor(struct motor_t &motor) void MotorController::setMotorSpeeds()
Sensor Manager SensorManager::init() run(float dt) readMotorEncoders(knet_dev_t *device, struct
motor_encoder_info_t &out)
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Computer Hardware
CPU
PC/104+Motor
Controller
I/O Board
Wireless PC/
104
OTH
ER I/OIMU
Wheel Encod
er
Design: Computer HardwareMain System
CPU Board – Diamond Systems Pluto
Motor Controller – MESA SoftDMC Motor Controller
PeripheralI/O Board – TS ADC16IMU - Pololu CHR-6dWireless – NetGear WG111
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Stack Connectors for PC104+
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Design: CPU – Diamond PlutoIntel Atom N270 1.6
ETX Form Factor
USB2.0/CFII/PC104+
5v @ ~2A
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Design: Peripherals I/O Board – TS ADC16
Two 16 bit ADCs at 100kHz each16 single ended, 8 differential channel
IMU – Pololu CHR-6d3 accelerometer, 3 gyro axisARM Cortex ProcessorTTL 3.3 converted to RS-232+/- 3gs of acceleration
Wireless – NetGear WG111USB2.0 Wireless G adapterLinux community driver support
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Design: Motor Controller – MESA SoftDCM4I68 FPGA based
PC104-PLUS400K gate Xilinx
Spartan372 programmable I/O
bits50 Mhz crystal
oscillatorPC104+ bus
VHDL Motor Controller200k logic units
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Design: Power System Power Board
Input: 6~16VOutput:
3.3V @ 2A 5V @ 4A 6~12V @ 60A
MotorsFaulhaber
2232006SR 6VDC nominal
Motor Drivers20kHz PWM2 channel 5.5-16V 0-
14ACurrent Sensing
BatteriesThunder power Li-po7.4V(2 Cell) and/or
11.1V(3 Cell)
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Design: Physical SystemWheels
Similar to Wheels on Kryten (May 08 Team)Injection MoldedABS PolymerCheaply Mass Produced
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Design: Physical SystemFrame
Lower COMLarger BatteryKryten & Dalec
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Formation TaskGoals
Polygon shaped Obstacle avoidanceXbox controller
ApproachEach robot has target location
Offset from virtual robot based on geometric shapeFormation rotates to avoid obstaclesXbox controller, point and vector of the
formation
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
R
R
RRR
R
R
RR
R
R R
Triangle formation avoiding obstacle
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Testing and VerificationTest cases for all requirements have been
developed.
Motor controller response characteristics
To be completed next semester
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
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Task Breakdown – Building Bot Peter
Wheel design Power system design
Matlab Simulation Structural design
Josh Porting to legacy system SoftDMC FPGA Integration Linux
Seth Ensure documentation gets finished by deadlines Hardware Selection IO Drivers Testing legacy system integration
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
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Task Breakdown – FormationsPeter
Robot DynamicsMatlab SimulationsResearching possible solutions to task
SethTask implementationTesting
JoshResearching possible solutions to taskTask implementation
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
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Schedule – Spring
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
ID Task Name Start Finish DurationJan 2010 Feb 2010 Mar 2010 Apr 2010
3/1 10/1 17/1 24/1 31/1 7/2 14/2 21/2 28/2 7/3 14/3 21/3 28/3 4/4 11/4 18/4 25/4
1
2
3
5
4d2/16/20102/11/2010Presentation 1 – Prepare and deliver
15d3/3/20102/11/2010Project Plan
18d4/26/20104/1/2010Design Document
13d2/22/20102/4/2010Hardware Selection
4 57d4/20/20102/1/2010Legacy System Proficiency
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Schedule – Fall
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
ID Task Name Start Finish DurationSep 2010 Oct 2010 Nov 2010
5/9 12/9 19/9 26/9 3/10 10/10 17/10 24/10 31/10 7/11 14/11 21/11
5 22d11/1/201010/1/2010Legacy Tasks Functional
6 28d11/26/201010/20/2010Testing and Verification
7 63d11/26/20109/1/2010Class presentations and artifacts
2
11d9/15/20109/1/2010Linux Functional on hardware1
8d9/10/20109/1/2010Power Board Review
4 10d10/1/20109/20/2010Robot Assembled
3 7d9/20/20109/10/2010Power Board Produced
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Where We StandProficient with legacy systemMotor Controller, integrate AIsHardware
OrderedPower Board
Wheels designed, production over summer
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Next SemesterBuild the Robot
Wheels, motor mounts & frame manufacturedComplete design of power systemFully assembled
IntegrationLegacy system fully functional on new robot
Testing and VerificationTest cases completed!
Formation cooperative taskAs time permits.
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Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Q/A Session