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Ongo01 – OSCAR
Client – Department of Electrical and Computer Engineering
Faculty Advisor – Ralph Patterson
Team Members –
9 December 2003
2nd Semester Students:
Patrick Jordan CprE / Math
Farrukh Mian EE
James Sweeney CprE / Psych
Michael VanWaardhuizen CprE / EE
Abdul Qazi CprE
1st Semester Students:
Argenis Acosta CprE
Daniel Marquis EE
Cory Farver CprE
Abdallah Mwita CprE
Matthew Frerics EE
Jason Olson CprE
Daniel Humke A EE
Fahad Wajid EE
Presentation Overview
Introduction & Overview
Motion Control
Power
Sensors
Software
General Summary
Introduction
OSCAR is a demonstration robot for
use in outreach to students and
community
Its goal is to excite and interest students
in engineering fields
Comprised of several subsystems, each
the responsibility of a subteam
History
ISU Robotics Club
CYbot
Successful Demos
 Widely remembered, Goal

OSCAR
Next generation technologies
 More student development

Problem Statement
To successfully integrate all subsystems
into a functional, safe and usable robot
Create demonstrations of interest to the
public of the OSCAR’s capabilities
Perform demonstrations for interested
groups and for university outreach
efforts
Users and Uses
Users
Team members
 Others who have been trained on the
system’s safe operation

Uses
Outreach and public relations
 Education of K-12 students

Operating Environment
Indoors or prepared outdoor areas
Level surfaces
Moderate Temperatures (>65F)
Free of obstacles shorter than 2.5ft
Team Structure
Subteams
Motion Control
 Power
 Sensors
 Software

Subteam Leader Coordination
Motion Control – Ongo01a
Members:
Matt Frerichs (EE – 1st) – Team Leader
Alexandre Moulin (ME – 1st)
Tom Shedek (ME – 1st)
Fahad Wajid (EE – 1st)
Introduction
The Motion Control Subteam of OSCAR
is responsible for controlling the
movement of OSCAR as a whole as
well as the construction and movement
of the arm.
Definitions
H-Bridge – Motor control circuit,
controls the direction of the motor
PCB – printed circuit board
LM629 – Motion control circuit, outputs
PWM and direction signals for speed
and direction control
PWM – pulse width modulation
Problem Statement
Complete implementation of motion control
circuitry that has been designed in previous
semesters
Re-design motion control circuitry if needed
End Product
Description
Movement achieved in the base
motors of OSCAR
Movement achieved in OSCAR’s
arm
Assumptions and Limitations
Software will be ready to control the
motion control circuitry
The power supplied will be sufficient for
the needs of the controllers
Sufficient funding will be available
Previous Accomplishments
Motion control circuits designed
Some parts of motion control circuits
built and preliminary testing started
Milestones
Achieve base motor movement (65%
complete)
Achieve arm motor movement (65%
complete)
Future Work
Work with software team on arm control
software
Improve performance of gripper and actuator
Find different funding sources in order to
implement more up to date solutions
Design Activities
Worked on new motion control scheme
with different H-Bridge circuits
Implementation Activities
H-Bridges soldered on new PCBs
Acquire new gripper actuator motor
Testing and Modification Activities
Tested LM629 motion control board
Tested old H-Bridge circuits
Testing of new H-Bridge Circuits
Personnel Utilization
Current
Hours
Matt Frerichs
Alex Moulin
Tom Shedek
Fahad Wajid
60.5
38
61
49
Original
Estimate
95
94
93
88
Revised
Estimate
63
40
62
51
Financial Resources
Matt Frerichs
Alex Moulin
Tom Shedek
Fahad Wajid
Hours
Rate
60.5
38
61
49
$20.00
$20.00
$20.00
$20.00
With
Hours
$1210.00
$760.00
$1220.00
$980.00
Other Resources
Poster
Motion Control
Components
Aluminum
Machine Shop
Usage
Total
Quantity Estimated
1
$5.00/each
1
$62.50
Actual
$3.00/each
$0.00
1
1
$50.00
TBD
$0.00
$0.00
$117.50
$3.00/each
Summary
Made progress with OSCAR’s motion
control circuit
Accomplished some base motion and
arm motion
Work accomplished
Researched new
gripper design
Assembled Arm
Created working CAD drawings of arm
Work accomplished
Machined parts to
assemble arm
Designed the
shoulder to attach
the arm to OSCAR
Assembled the arm
Future Work
Improve performance of gripper and actuator
Attach the arm to Oscar
Continue fabricating parts
Design shafts for elbow and shoulder
Machine a new hand
Design new arm
Summary
Have completed the fabrication and
assembly of OSCAR’s arm
Power - Ongo-01c
Team Members:
Daniel J. Marquis (EE – 1st) – team leader
Hong Nguyen (EE – 2st)
Definitions
DC/DC Power Supply
– DC Voltage ‘A’ to DC Voltage ‘B’
DC/AC AC/DC Power Supply
– DC Voltage ‘A’ to AC 120V
– AC 120V to DC Voltage ‘B’
Presentation Outline
Introduction – to power sub team project
Project Activities – past, present, future
Resources & Schedules – where we are
Conclusions – results & implications
Problem Statement
Primary Problem – Inefficient DC/AC AC/DC
Secondary Problem –Sensors wall powered
Tertiary Problem – Maintenance / Support
Intended Users & Uses
Users – OSCAR team members
(Software, Sensors,
and Motion Control)
Uses – Power OSCAR during demos
(The power system is not intended to provide power to non-related devices like home theater systems, full fledged desktop computers, electric lawn mowers, and halogen lamps.)
Assumptions and
Limitations
Short Demonstrations
Sensitive Power System Isolation
Limited Battery Power
End Product(s)
DC-DC power supply system for computer
Power budget for OSCAR
Onboard power supply for sensors
(either temporary or permanent)
Previous
Accomplishments
DC/DC Converter Designed (Spring ‘02)
DC/DC Converter Constructed (Fall ’02)
Battery Sensors Installed (Fall ’02)
Present
Accomplishments
DC/DC Testing Commenced
Power Budget Made
Documentation updated & posted on web
Concluded DC/DC not up to spec.
Future Required
Activities
Maintain Power System (ongoing)
Improve Fusing (Spring 2004 & ongoing)
Commercial Power Supply Evaluation
(Spring 2004)
Approaches Considered
and the One Used
Sensor Power
- Rechargeable Battery Pack
- DC/AC/DC Conversion Setup
- DC/DC Converter (Future)
- Run off of PC (Used Now)
Project Definition
Activities
Not Applicable
Research Activities
Not Applicable
Design Activities
Not Applicable
(though did improve the previous term’s team’s documentation)
Implementation
Activities
Not Applicable
Testing and Modification
Activities
Tested DC/DC Power Supply
Tested old DC/AC AC/DC System
Other Significant Project
Activities
Found DC/DC Converters
Created & Posted Documentation
Replaced 3 DC/DC Voltage Regulators
(one exploded during a DC/DC power up)
Repaired Fried Traces on PC Boards
Two DC/DC Converters
Inside Box
DC/DC Converters
Outside of Box
Resources & Schedule
Resource 1/2
Overall Hours Spent
Time (as of 7 December 2003)
Current
Hours
Physical
installation
and testing
18%
Ordering
parts
1%
Search for
/ Read
documenta
tion
11%
Daniel J. Marquis 96.25
Original
Estimate
70
Revised
Estimate
110
Hong Nguyen
67
87
70
Research
1%
Meetings
18%
Making
report
51%
Resource 2/2
Money (as of 7 December 2003)
Item
Estimated
Actual
Difference
(Estimated-Actual)
Project Poster (Cost to Sub-Team)
$50.00
$6.00
$44.00
Fuses
$0.00
$3.00
-$3.00
Voltage Regulators
$0.00
$0.00
$0.00
TOTAL
$50.00
$9.00
$41.00
Schedule
Behind due to DC/DC failures
Task
From Day
Month
To Day
Month
Length of Time
(total day)
Provide Temp Power
21
9
23
11
45
Research testing circuit
(DC/DC)
Testing DC/DC circuit
21
9
26
10
25
30
9
30
10
23
Research testing circuit
(Monitor Battery)
Testing Monitor Battery
21
9
26
10
25
30
9
30
10
23
Provide Power
26
10
25
12
44
Project Evaluation
Milestone
Priority
Completion
DC-DC Converters Found
High
100%
Power Budget Created
High
30%
Battery Status Verified
High
100%
Fuse Protection Implemented / Verified
High
25%
DC-DC Converters Tested
Medium
80%
Battery Indicators Verified
Low
0%
Temp Sensor Power Solution Researched
Low
25%
Temp Sensor Power Solution Built and Installed
Low
90%
Temp Sensor Power Solution Tested
Low
90%
Recommendations for
additional work
Inline, Accessible Fuses
Commercial DC/DC
Summary
DC/DC
DC/AC AC/DC
Documentation
Commercial Solution
Sensors – Ongo-01d
Members:
Michael Van Waardhuizen (CprE/EE – 2nd) – Team Leader
Farrukh Mian (EE – 2nd)
Cory Farver (CprE – 1st)
Daniel Humke (EE – 1st)
Faculty Advisor: Professor Ralph Patterson III
Client: Department of Electrical and Computer Engineering
Iowa State University
Outline
Problem Statement
End Product Description
Assumptions & Limitations
Previous and Current Accomplishments
Technical Approaches
Current Activities
Resources
Conclusion
Definitions
Azimuth The horizontal angular distance from a
reference direction, usually the northern point of the
horizon, usually measured clockwise.
Micro-controller A microcontroller is an
embedded, complete system. A microcontroller
typically includes small amounts of memory, timers,
and I/O ports.
Basic-X24 BasicX-24 is one of the most powerful
BASIC programmable microcontrollers.
Thermistor A resistor made of semiconductors
having resistance that varies rapidly and predictably
with temperature
Problem Statements
OSCAR requires functional sonar system for
navigation (has not functioned since Spring
2002)
Temperature sensors does not operate
Compass sensor does not operate
Solution Approaches
Research replacement sonar systems,
compass system
Test hardware components individually
Simplify software components
End Product Description
Functional sonar array
Functional compass
Functional temperature sensor
Operable by on board computer without
assistance
Assumptions and Limitations
Power system will provide adequate and
stable enough power
Sonar detect distances from only 1.33 - 35
feet (+/- 3%)
The compass sensor must be allowed 2.5 to
3.5 seconds to settle from rotational
displacement
Limitations cont.
The compass sensor must be positioned to have a tilt
of no more than +/- 5° with respect to the ground. A
successful compass reading can only be done on flat
terrain.
The compass sensor may have limited accuracy (+/5° Azimuth) due to electromagnetic interference from
drive motors, computers and power supplies
The sonar will not experience electromagnetic noise
such that prevents proper operation
Previous Accomplishments
Completed sensors system:



8 directional sonar array
Compass
Temperature Sensor
Malfunction left unsolved, array semifunctional at end of last semester, requiring a
connection board rework/replacement
Sonar System
Present Accomplishments
Replacement of the microcontroller
Networked OSCAR’s hard drives
Researched alternative sonar system
Researched alternative compass circuits
Miscellaneous repairs
Initial functional testing of our projects
subsystems.
Future Activities
Research into sensor extensibility
System maintenance
Replacement of compass to provide
increased accuracy
Mapping algorithm
Approach 1
Replacement of old system with new
technology:
Pros: A fresh start, re-evaluation of
necessary capabilities
 Cons: Would require a large amount of
money, brand new system isn’t guaranteed
to work

Approach 2
Testing & Repair of existing circuitry
Pros: Certain that system worked once,
low cost
 Cons: Errors and bugs difficult to find,
especially in hardware, existing system
may break again

Chose approach 2 for budgetary reasons.
Design & Implementation Activities
Redesign of a connection board
Replacement of microcontroller
Hardware repairs for system integrity
Networking of OSCAR hard drives
Testing and Modification Activities
Complete testing of 3 microcontrollers to
establish if replacement was necessary
Testing of software for PC and microcontroller
to establish operating system dependence
Testing of sonar modules, compass, and
temperature sensor for functionality
Personnel Utilization
Michael VW
Farrukh Mian
Cory Farver
Dan Humke
Current Original
Hours
Estimate
45
27
33
27
85
26
41
25
Revised
Estimate
45
40
75
45
Personal Util. cont.
Personal Hours (204 Hours Total)
Michael
Dan
Cory
Farrukh
Financial Resources
Actual Financial Costs
Item
Without Labor
Previous Semester
With Labor
$40.00
$40.00
Sensor
$
-
$
-
Transducer (2)
$
-
$
-
Board Etching
$
-
$
-
Poster Printing
$12.00
$12.00
Miscellaneous Parts
$57.00
$57.00
$109.00
$109.00
Subtotals
Labor at $10.75 per hour
Previous Session
$2,931.75
Farver, Cory
$913.75
Humke, Daniel
$440.75
Mian, Farrukh
$354.75
VanWaardhuizen, Michael
$483.75
Subtotals
Totals
$5,124.75
$109.00
$5,233.75
Schedule
Summary
Sensors did not function at beginning of
the semester
Hardware problems mid-semester
Replaced faulty hardware
System works, in testing for accuracy
Integration with OSCAR for navigation
to come
Software – Ongo01e
Members:
James Sweeney (CprE – 2nd) – team leader
Abdul Nasir (CprE – 2nd)
Patrick Jordan (CprE – 2nd)
Jason Olson (CprE – 1st)
Abdallah Mwita(CprE – 1st)
Argenis Acosta (CprE – 1st)
Introduction
The software sub-team on OSCAR is
charged with developing the software
controls to OSCAR’s hardware and also
creating demonstrations utilizing that
hardware.
Problem Statement
Create a simple software interface for
OSCAR system using Java
Deploy effective code and document
versioning system
Explore available upgrade paths, both
hardware and software
Ensure portability of code
Design Objectives
Create new low level IO interface for Motion
Control
Verify that existing demonstrations work with
new interface
Develop new demonstration capabilities
Set up system to organize all of OSCAR’s
code and documentation in one repository.
Past Accomplishments
Initial, functional code base
Interface with Motion Control LM 629
Speech Capabilities via ViaVoice
Initial arm interface code
Present
Accomplishments
Successful interface with sensors
Delivery of new Motion Control interface
Deployment of a versioning system
Replacement of malfunction computer
Implementation of wireless network
Transition to complete Java solution
Assumptions and
Limitations
The motion control hardware on
OSCAR is functional.
End-effector will be complete.
Sensors are functional and
interface via RS232
Sufficient resources will be available
End Product
Description
Code and document repository for
use by entire team
Code to run during OSCAR
demonstrations.
Documentation detailing the
operation of the OSCAR software.
Approaches Considered
Further development on Windows 98
Lacks device support
 Difficult to find programming resources

Upgrade to more recent Windows OS
Not designed for embedded development
 low level interface code difficult to create

Approach Used
GNU/Linux OS based solution
Growing use in undergraduate curriculum
 Extensive developer support
 Embedded versions readily available
 Significant assistance available from
community

Research Activities
OS Choice


Low level IO major concern
Must be easily picked up by students
Motion Control Boards


Simplify Motion Control interface
Expensive, must find willing donor
New, lower power computing solution


Several solutions
Cost major concern
Design and
Implementation
Activities
Re-implementation of low level IO
Re-factoring of existing software to
ensure portability
Testing and Modification
Modification of existing code to ensure
portability
Testing of Motion Control interface
Testing of Sensors interface
Technical Approach
Java Codebase
Serial Port
Sensors
Hardware
I/O Card
Motion Control
Hardware
JNI
Technical Approach
Sensors
Hardware
Java Codebase
Java Comm API
Motion Control
Hardware
Personnel Utilization
Current Original
Hours
Estimate
Jason Olson
54
63
Abdul Nasir
34
64
Patrick Jordan
65
65
James Sweeney 69
61
Abdallah Mwita 28
64
Argenis Acosta 64
63
Revised
Estimate
58
40
67
70
30
65
Resource Utilization
Item
Projected Cost
Actual Cost
802.11b Card
$40
$0 (on loan)
Replacement
Computer
Unprojected
$0
Poster
(Entire Team)
$50
$50
Milestones
Configure and deploy CVS server for
team use. (100% complete)
Code portable and IO tested on multiple
OS’s (65% complete)
Demonstration code to run during
OSCAR demonstrations (50%
complete)
Future Work
Complete the arm code; dependent on arm
construction
Refinement of the speech code and
demonstration code
Purchase of new lower power computer
Summary
CVS deployed and populated
IO interface changed by Motion Control, new
code developed
Portability of code base reviewed
Options for alternate OS paths have been
evaluated
Wireless access, improved interfaces on the
way
Lessons Learned
Importance of intra-team
communication
Necessity of evaluating changes effects
on whole project
The value of versioning systems in large
group settings
Risks and Risk
Management
Emergent circular dependency

Use of redundant development paths
Team failure because of single subteam
failure

Created several possible development tracks that
can be pursued
Code or document loss

Use of CVS with central backup
Closing Summary
Fully functioning sensors suite
Motion Control has new demonstrated
functional interface
Software has deployed new low level
code for new Motion Control interface
Demos will be ready after testing and
revision on new low level code,
returning OSCAR to a functional state
Questions?