Download Paper Prototyping - SIUE Robotics - Southern Illinois University

A Multidisciplinary Approach for Using
Robotics in Engineering Education
Jerry Weinberg
Gary Mayer
Department of Computer Science
Southern Illinois University Edwardsville
• The integrated systems nature of
robotics make robot projects an
interesting and useful teaching tool
– Electrical Components
– Mechanical Components
– Computational Components
• The integrated systems nature of
robotics make robot projects for many
small and medium institutions difficult
– Cost of pre-fabricated robots
– Full range of expertise needed for constructing
and teaching
• Robot Platforms are becoming
inexpensive, accessible, and stable
– Cost of pre-fabricated robots prohibitive
– Increase the “Threshold of Indignation”
Effort we are willing to put forth to get a
task done (Saffo)
Easier, familiar mechanical components
Plug & Play feel to sensors
Wide range of programming environments
– Stability reduces overhead of support,
malignance, and troubleshoot
• Teaching still requires a broader range of
knowledge
– Or de-emphasis of some areas
• Robotics Multidisciplinary Action Group
– Faculty from ECE, ME, IE, and CS
– Cross-Functional team for designing course
material
– Share expertise through sharing of course modules
and graduate assistants
Course modules provide a vocabulary
Design discussions take course modules
and previous student work and adapt them
to make assignment that are accessible to
students in other areas
Area: Course
Computer Science:
Artificial
Intelligence
Mechanical
Engineering:
Mechatronics
Robotics –
Concepts Emphasized
Concepts Shared
Embedded agents,
deliberative/reactive robot
control, planning, multitasking
Subsumption architecture,
search strategies,
multitasking, cross
compiling, multiplexing
Sensor processing, logic
circuits, real-time processing,
actuators, analog/digital
conversion, kinematics,
trajectory planning
Differential motion, gearing,
translation motion
Problem formulation, structural
design, algorithmic design,
search strategies, gearing, drive
train
Problem analysis and
definition, integrated system
design
Signal processing, robotic
system design, and project
management, analog/digital
conversion
Signal processing, Sensor
characteristics, robotic
system integration
dynamics & control
Industrial
Engineering:
Engineering
Problem Solving
Electrical &
Computer
Engineering:
Senior Project
• Multidisciplinary Approach:
– Overcome need for broad expertise through
sharing of knowledge
– Take advantage of cross-cutting funding programs
• Near Future Goal: Multidisciplinary
Engineering Design / Robotics Course
– Cross-Functional student teams
– Meet ABET requirements
• Push on the abilities of inexpensive
platforms to teach more advanced
concepts
– Navigation and Planning
– Handy Board: lower threshold of indignation
Exploring board design for more Plug and Play
feel
– RCX: limitations of sensors and firmware
Exploring ways to go beyond Behavior-Based
Control
Current Project
• Purpose:
– Develop complex behaviors on an inexpensive
platform
• Approach:
– Emulate behavior that could be modeled in both a
reactive and deliberative system
• Task:
– Forage
• Search, obstacle avoidance, path planning, and
navigation
Design
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LEGO Mindstorms RCX
Not-Quite-C (NQC)
“Backpack”
Dual-differential drive
Lit-target capture
Obstacle avoidance
IR communication
Compass sensor
Two rotation sensors
– Distance and turning
Reactive-Based Reasoning
(ascending order of precedence)
• Forage (default) – random search routine
• Acquire – captures target using light sensor
• Return – directs robot back to starting
location using IR messaging
– “Marco Polo”
• Release – releases target and resets system to
look for next target
• Avoid – obstacle avoidance routine
Deliberative-Based Approach
• Forage (default) – planned search routine
using provided map of arena
• Acquire – captures target using light sensor
• Return – directs robot back to starting
location using compass and rotation sensors
• Release – releases target and resets system to
look for next target
• Avoid – obstacle avoidance routine
Challenges
• Mechanical
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Drift
Battery power and drain
Limited sensor ports
Sensor limitations
• Software
– Encoding environment
– Hardware interface
Options to Explore
• Dual-RCX (Master / Slave)
– Increased sensor ports, memory, and processing
• Triangulation
– Multiple stationary RCXs
• Mobile sensors for multi-use
– Ex: Light and gear box combo allowing sensor to
track ground lines, light levels ahead, and
overhead light levels.