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  • AS-84.3149 Bionics: Project Work Spring 2008

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    The document provides information about a project to implement a blind guide robot using whisker sensors on a J2B2 robot. It discusses analyzing whisker sensor data, controlling the robot to follow a path using Simulink models compiled to C code, and connecting to the robot. Whiskers are attached with capacitive microphones to sense movement. Data is collected at 250Hz and transmitted over RS-232. The project involves analyzing whisker data, developing a control algorithm in Simulink to follow a path, and testing with the physical robot.

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    The document provides information about a project to implement a blind guide robot using whisker sensors on a J2B2 robot. It discusses analyzing whisker sensor data, controlling the robot to follow a path using Simulink models compiled to C code, and connecting to the robot. Whiskers are attached with capacitive microphones to sense movement. Data is collected at 250Hz and transmitted over RS-232. The project involves analyzing whisker data, developing a control algorithm in Simulink to follow a path, and testing with the physical robot.

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    13 views12 pages

    AS-84.3149 Bionics: Project Work Spring 2008

    Uploaded by

    veenadivyakish
    The document provides information about a project to implement a blind guide robot using whisker sensors on a J2B2 robot. It discusses analyzing whisker sensor data, controlling the robot to follow a path using Simulink models compiled to C code, and connecting to the robot. Whiskers are attached with capacitive microphones to sense movement. Data is collected at 250Hz and transmitted over RS-232. The project involves analyzing whisker data, developing a control algorithm in Simulink to follow a path, and testing with the physical robot.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as ppt, pdf, or txt
    of 12

    AS-84.

    3149 Bionics

    Project work spring


    2008

    Project work 2008

    Implement a Blind guide robot


    Analyze data from whisker sensors
    attached to the J2B2 robot and control
    robot so that it follows a marked
    Try to follow a path on the floor as
    accurately and quickly as possible
    Get to know how to combine different
    tools for robot control (Simulink -> C)
    A final competition for different groups

    Whisker sensors

    Whisker sensors are build


    by attaching a whisker on a
    capacitive microphone
    This way whisker movement
    is sensed as change in
    voltage
    Whisker oscillation and
    movement can then be
    analyzed in time or
    frequency domain
    Due to non-industrial
    production of whiskers,
    they are not exactly similar

    Data translation system

    The voltage from microphone is amplified and lowpass filtered using a analog filter-amplifier board
    Amplified signal is A/D converted using a DSP
    prosessor board. The DSP does further low-pass
    filtering and sends the results trough RS-232 port as
    data packages at 250Hz frequency
    analog
    voltage

    amplified
    analog
    voltage

    RS-232
    DSP

    Data translation system

    One data package contains a starting byte (0x44), 8


    data bytes and a end byte, which is contains package
    index (0-255)
    Each data byte corresponds to voltage output from 0 to
    255, nominal (no movement) is 127
    The whiskers used for project are 1, 2, 3 and 5.

    0x44

    8 data bytes

    index byte

    Controlling the robot


    The

    robot is controlled using an interface


    made in C++
    Project work however is done in matlab /
    simulink and the code is compiled to C-code
    using real-time workshop c-compiler
    compile with
    robot
    interface

    C-compiler
    Simulink

    C-code

    Executable

    Simulink

    Data is read to matlab


    and analyzed
    Then a simulink model is
    used to develop a control
    for the robot
    For testing:
    Test_Environment, for
    controlling
    Driving_environment

    Compiling
    Compilation

    to c-code is compiled easily with


    simulink, be sure to follow project work
    instructions carefully!
    Compiling with interface is done with
    Devcpp-programming environment, you dont
    have to make many changes, compilation
    should be easy

    Connecting to robot
    When

    running the code, the laptop must be


    connected to robot with ethernet cable with
    following connection settings:

    IP: 192.168.10.2, Gateway: 192.168.10.1

    If

    you want to use internet change the


    settings to:

    IP: 130.233.120.81, Gateway: 130.233.120.254

    Testing with robot


    There

    is a simple ready-made user interface


    for robot control:

    Drive robot with a,w,s and d


    Terminate control thread for whiskers t
    Exit application ESC

    Read

    the code in main.cpp for more accurate


    instructions

    General stuff
    ALWAYS

    leave the robot power chord on


    when not working (and maybe also when
    working)
    Read instructions for robot use from:
    http://automation.tkk.fi/AS-84-3145-ProjectW
    ork/Important
    Reserve the robot beforehand using
    reservation book at robot room (2551)

    Outline of project work


    Analyze

    data from whiskers using matlab


    Create a control to follow, using whiskers
    and robot bumpers and test it
    Write a report of the data-analysis and
    algorithm implementation
    A final competition between groups

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