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Little Homie: Intelligent Machine Design Overview

A presentation by Jesse Martin showcasing Little Homie's application, sensors, software, pitfalls, and conclusion. Learn how the robot autonomously takes pictures, its sensors, and challenges faced during development. Discover the original vision, costs incurred, and lines of code written.

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Little Homie: Intelligent Machine Design Overview

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  1. “Little Homie” Presentation Jesse Martin 12/04/02 Intelligent Machine Design Lab

  2. Overview • Application • Sensors • SOFTWARE • Pitfalls • Conclusion

  3. Application • What I said it would do…. • Autonomously take pictures of things that is “interesting” • Robot will have a rich UI from an onboard Pocket PC • Pictures taken will be stored on the pocket PC where they can be viewed, emailed, or sent to a PC

  4. Application • What Little Homie actually does… • Take high resolution images of people (not necessarily interesting people) • Up to 1248 x 960 pixels • Images are stored on 32 mb Flash where they can be transferred to a PC via USB • Provide the user with a rich UI via Pocket PC • On board diagnostics tool

  5. Sensors • 2 Sharp GPD212 IR • 2 Whisker Bump switches • Aiptek Pencam • HVW Technologies PIR Sensor

  6. PIR Sensor • Advantages • Cheap!! Cost only $10.95 • Neat Fresnel Lens • Only Three Lines • Disadvantages • Digital • If platform moves, you get unreliable readings

  7. CMUcam • Originally had plans on using the CMUcam to take pictures but… • Takes about 4.8 sec to transmit small image over serial port at 115k baud • My microprocessor doesn’t even support that speed • Therefore, on my uP, it would take about 15 sec • Images aren’t buffered!

  8. CMUcam Steady Picture @ 313 x 285 What is this????

  9. CMUcam • Too low quality; unreliable results • Solution….. Aiptek Pencam!

  10. Aiptek Pencam • 32 mb Flash can store 140 pictures • Small • Low Power • 1248 X 960 resolution • Can take video

  11. Interfacing Pencam • Just need to connect wires from the Pencam’s buttons to a microprocessor controlled relay

  12. Aiptek Pencam CMUcam

  13. Pocket PC Software • Main Menu • Control Panel • Actuation Calibration • Test Camera • Take Pictures • (View Pictures is disabled)

  14. Pocket PC Software • Control Panel Allows you… • Test sensors • Test motors • Test Servos • Obstacle Avoid

  15. Pocket PC Software • Actuation Calibration • Allows you to change each motor’s values to make the robot go straight or turn in the manor you want it too

  16. Pocket PC Software • Test Camera • Allows you to… • Turn on Camera • Take a Picture • Clear Contents on camera

  17. Pocket PC Software • Take Pictures • Main Program

  18. Pitfalls • Caster Wheel • Would always get stuck so platform couldn’t go straight • Solution: Replaced it with a stub • Interfacing CMUcam • Couldn’t get clear images from CMUcam • Max baud rate on uP too slow • Solution: Replaced CMU cam with Aiptek Pencam

  19. Conclusion • Orginal vision for Little Homie was “Pie in the Sky” • Total Cost over $694.63 (not including PPC) • $73.30 in shipping • $109.00 wasted toward CMUcam • Burned out many IRs • Bought wrong items and vendor wouldn’t take back

  20. Conclusion • As of right now, 1,462 lines of code has been written • Many more lines are hidden

  21. Conclusion Any Questions???

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