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AIHRO

AIHRO. Artificial Intelligent Humanoid Robot. AKHIL BASIL BABY AKHIL JOY JIBIN POULOSE. Guided by Asst prof . VIBIN C THOMAS. When Machine Becomes Man. What is. Humanoid structure (Similar to humans) Which can Interact (Hear and Talk)

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AIHRO

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  1. AIHRO Artificial Intelligent Humanoid Robot AKHIL BASIL BABY AKHIL JOY JIBIN POULOSE Guided by Asst prof . VIBIN C THOMAS When Machine Becomes Man

  2. What is • Humanoid structure (Similar to humans) • Which can Interact (Hear and Talk) • Learn our simple tasks and execute it when demanded • Answer any of your queries (Data Mining) ex: distance from ankamaly to ernakulam weather of kochi

  3. AIHRO Artificial Intelligence AIHRO Humanoid Robot Fig no. 1

  4. How it Controlling Methods Voice Recognition Gesture Recognition • Primary control • Priority High • Using Smart phone • Secondary control • Activated through voice • To Teach the Tasks

  5. How it Gesture Recognition • Record audio of user using the smart phone application • Convert voice to text using google voice API • Generate audio response using AIML or execute the command. • Teach our work using wearable band. • AIHRO save this work for the future . • Execute when demanded . Voice Recognition

  6. Motor (Leg) Smart phone Google Server DISPLAY BT L298 Module AUDIO Bluetooth Receiver Tx/Rx BEAGLE BOARD XM (1GHz) TM4C1294XL(120MHz) TM4C1294XL(120MHz) Tx/Rx Fig no. 2 RF Receiver Sensor Board WIFI MODULE RF MSP430 G2553(Ultra Low Power) (3) I2c interconnection Gesture Module Accelero + Gyro 18 channel (Hand & face Servos)

  7. Components used • MSP430 G2553 (Ultra low power ,3.3v,20pin,6 in no:) • TM4C1294XL (120 MHz controller , MCU,1Mb flash) • Beagle Board Xm (1GHz MPU) • V0150 Servo (torque 15-20kg/cm) , 1Amp , 5-6 v • V080 (6kg/cm) Stall current 1Amp • RF Transceiver , Bluetooth Module zs-040 Servo Load Fig no. 4

  8. PCB CHIPS • Voltage regulator Board 1 (5Amps , 5v,with fuses ,Heat sink) • Voltage regulator Board 2 (5Amp , 5v ) • Voltage regulator Board 3 (1.5Amps , 3.3v && 5v ) • Wearable Band Board • Audio Amplifier • RF Receiver Board • Sensor Board • Motor control board • Mother Board Fig no. 5

  9. Voltage Regulators Consist of: • LM338T - 5Amps (Adjustable voltage) • LM317T-1.5Amps (Adjustable voltage) • Indication lights(SMD led) Fig no. 6

  10. Wearable Band Consist of: • MSP430 Controller • LM317T-1.5Amps , 3.3 v • RF Transmitter • Accelerometer + Gyroscope(MPU6050) • LM317T-1.5Amps , 5V • Led Indication Fig no. 7

  11. Cont’d • Calibrated MPU6050 for different modes and directions using the controller. • Encoded the data to minimum size for transmition. • Transmission of data using RF transmitter Encoded data ex : HLU0 Challenges : Reduce transmission losses (data)

  12. Receiver Board Consist of: • MSP430G2553 Controller • RF Receiver • Led Indication • Encoded the data to reduce error (losses during transmission, neglect incomplete packets) . Encoded data ex : 2010 Fig no. 8

  13. Sensor Board Consist of: • Atmega 328p-pu controller • Temperature • Humidity (dth11) • Gas (co2) • Control Temperature using 12v dc Fan. • Cut-off the supply –presence of co2 Fig no. 9

  14. Control Board Consist of: • 3 MSP430G2553 Controller’s • Led Indication • Accuracy control port • Connected in i2c protocol • To provide simultaneous control for motors • 18 channel output’s Fig no. 10

  15. Control board TM4C129(2) Master MspG2553 MspG2553 MspG2553 Decode the sequence and writes to slave controllers Fig no. 11 18 Channel for Servo’s

  16. Mother Board Consist of: • MSP430G2553 Controller • 5v , 3.3 v, Gnd channels • Fan control • Display section • Indication lights • Debugging ports Fig no. 12

  17. Assembling • PCB Chips are inserted in the main board • TM4C129 With Beagle Board via USB • Gesture Receiver to Tm4c via serial Tx/Rx • Bluetooth to Tm4c via serial Tx/Rx • (Tm4c has multiple Serial and i2c ports) . Fig no. 13

  18. Mechanical Structures Face: • Two Servo’s • Jaw and eye brow Movement Challenges : Friction at the joints

  19. Mechanical Structures Hand: • Six Servo’s • Two High torque Metal Servo’s (16-20kg/cm) • Joints with Bearings • Three low torque servo’s For finger Fig no. 14

  20. Mechanical Structures Body: • Aluminum Channel (To reduce weight) • Aluminum thin sheet (For covering) • Joints with Rivet Challenges : Stability and weight

  21. Mechanical Structures Base: • Two High torque DC geared motor • Four wheels to support body • Battery arrangement

  22. Algorithm Bluetooth Receiver TM4C -1 Beagle Board Xm TM4C-2 Gesture Receiver Control board Fig no. 15

  23. Algorithm • TM4C-1 continuously monitor the Bluetooth port for the voice info . • Passes the info to beagle board • Beagle board differentiate it as casual talk or command • For casual talk- Generate response using AIML & DATA MINING

  24. Algorithm • For command – Search keyword If : present in database - Execute the task . Execution of task : Beagle board passes the sequence to TM4C-2 , it decodes sequence and power the Actuators using control board .

  25. Algorithm Else : Provide audio response for recording new sequence . TM4C-1 Monitor Bluetooth for permission (yes:no) Yes: Initiate gesture in the TM4C-1 for new task TM4C-1 continuously records the sequence from gesture. Store sequence in the Beagle board Assign new keyword .

  26. Algorithm No: Cancel the current operation • Starts monitoring Bluetooth (restart process) • (Sensor board will be continuously monitored as a parallel process)

  27. Works completed • Master plan of mechanical structure , Algorithms , Circuit designs • Done with inner structural designs • Full pcb chips with components soldered • Mother board and its connectors • Gesture Recognition • Voice Recognition • MPU6050 Calibration

  28. Works completed • RF Transmitter and Receiver section • Configuring of Beagle board xm • Completed both hands with Servo’s connected • Verification of PCB’s • Testing of Voltage regulators • Configured TM4C129(1) .

  29. Motor (Leg) Smart phone Google Server DISPLAY BT L298 Module AUDIO Bluetooth Receiver Tx/Rx BEAGLE BOARD XM (1GHz) TM4C1294XL(120MHz) TM4C1294XL(120MHz) Tx/Rx RF Receiver Sensor Board WIFI MODULE Fig no. 16 RF MSP430 G2553(Ultra Low Power) (3) I2c interconnection Gesture Module Accelero + Gyro 18 channel (Hand & face Servos)

  30. Works undergoing • Mechanical Movement of face • Battery case and rack for pcb • Base and leg portion works • Database for storing gesture sequence • AIML programming • Audio Response generation • Data mining

  31. Mechanical Structural works Fig no. 17

  32. References • System Design and Dynamic Walking of Humanoid Robot KHR-2 Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Min-Su Kim, Baek-kyu Cho and Jun-Ho Oh • K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The Development of Honda Humanoid Robot,” in Proc. IEEE Int. Conf. on Robotics and Automations, pp.1321-1326, 1998

  33. Thank you

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