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Wireless Andros

Wireless Andros

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Wireless Andros

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  1. Wireless Andros ROSELYNE BARRETO FALL 2004 Imaging, Robotics, and Intelligent Systems Laboratory Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, TN.

  2. OUTLINE • Wireless Andros – Fall 2003 • Objective • Methodology • Achievements • Wireless Andros – Summer 2004 • Objective • Achievements • Wireless Andros – Fall 2004 • Conclusions • Future Work

  3. ANDROS

  4. WIRELESS ANDROS - Fall 03 • Senior Design Project – Reverse Engineering Objective:Replacing the original analog control box by a wireless touch-screen. This system is mechanical, large, heavy, and connected to the robot by a cable, which makes it hard to maneuver and hard to upgrade.

  5. WIRELESS ANDROS - Fall 03 • Senior Design Project – Reverse Engineering Methodology: i. Capture the signals from the control box using Kermit 95 Software

  6. WIRELESS ANDROS - Fall 03 • Senior Design Project – Reverse Engineering Methodology: ii. Map the analog control box signals (21-character strings) 0A000C2000908D80C0Æññ

  7. WIRELESS ANDROS - Fall 03 • Senior Design Project – Reverse Engineering Methodology: • Integrate the strings in touch-screen software from TERN INC. The Smart LCD Touch-Screen – Paradigm C++ Software

  8. WIRELESS ANDROS - Fall 03 • Senior Design Project – Reverse Engineering Methodology: iv. Add Maxstream RS-232 wireless System Maxstream Wireless Unit

  9. WIRELESS ANDROS - Fall 03 • Senior Design Project – Reverse Engineering Achievement: v. A smaller, lighter, wireless and software-based control system.

  10. WIRELESS ANDROS - Fall 03 • Senior Design Project – NOT ADJUSTABLE • Light • Vehicle Speed • Arm Speed • All the code for ECE 400 was taken with LightON, Vehicle Speed HIGH and Arm Speed HIGH

  11. WIRELESS ANDROS - Su 04 • Objective • Switch form touch-screen to tablet PCand create a GUI • Enhance ECE 400 Senior Design Project

  12. WIRELESS ANDROS - Su 04 • Achievement Functional GUI that has all the functionality of the touch screen The same steps were taken: • Capture the signals from the control box using Kermit Software • Map the analog control box signals (21-character strings) • Integrate the strings in MFC code • Keep RS-232 Wireless System

  13. WIRELESS ANDROS - Su 04 • Achievement : functional GUI that has all the functionality of the touch screen

  14. Task 2 - WIRELESS ANDROS - Fall 04 • Enhancement • Make the GUI adjustable (as close to the original analog control box as possible) and increase functionality.

  15. Task 2 - WIRELESS ANDROS - Fall 04 • Enhancement • Make the GUI adjustable. 0A000C2000908D80C0Æññ Arm Speed Vehicle Speed Light

  16. Task 2 - WIRELESS ANDROS - Fall 04 • Enhancement : Improve GUI • Add Settings

  17. Task 2 - WIRELESS ANDROS - Fall 04 • Enhancement : Improve GUI • Add Vehicle Drive Option

  18. Conclusion • Andros is a slow but very robust robot • Climbs on up to 45 deg stairs • Goes over obstacles • Can be used as a sensor platform in (potentially) hostile environment • Keeps danger at Distance • To control Andros wirelessly means completely understanding and mastering its 21-character string commands • Andros is meant for anyone to control but is not easy to maneuver and hard to maintain • Anybody who need to go move or destroy a dangerous object • Alpha version of GUI for wireless Andros. This GUI will bring Andros to a higher level of technology while keeping it very accessible for anyone to operate

  19. Future Work • Task 1 - ECE503 Modern Transform Methods • Task 2 - Increase initial GUI by increasing functionality • Task 3 - Sensing • Survey on robot sensing • Develop vehicle inspection scenarios • Add GUI option for sensing • Task 4 - Autonomy • Survey on robot autonomy • Add GUI option for autonomy

  20. Andros II

  21. Andros II Reaching under vehicle

  22. Andros II Reaching near object

  23. Andros II Reaching over object

  24. Andros II Sensor Mount

  25. THANK YOU !!! Questions?