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ME 224 Final Project Final Presentation 12/08/05

ME 224 Final Project Final Presentation 12/08/05. David Macedonia David Storch Adam Same Norbert Wroblewski. Overview. Background/Materials Objectives Actuation Calibration Demonstrations of Control/Wireless Analysis/Conclusion Final Thoughts. Background/Materials . LabVIEW 7.1

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ME 224 Final Project Final Presentation 12/08/05

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  1. ME 224 Final ProjectFinal Presentation12/08/05 David Macedonia David Storch Adam Same Norbert Wroblewski

  2. Overview • Background/Materials • Objectives • Actuation • Calibration • Demonstrations of Control/Wireless • Analysis/Conclusion • Final Thoughts

  3. Background/Materials • LabVIEW 7.1 • Originally developed for the Apple Macintosh in 1986. • Platform and development environment for a visual programming language. • used for data acquisition, instrument control, and industrial automation. • Allows for multiple nodes to be working at once, therefore capable of parallel processing and execution.

  4. Background/Materials • BASIC Stamp • Microcontroller with a small BASIC interpreter. • It operates at 20 kHz and can handle 4,000 instructions per second. • BASIC Stamp projects we have found include Door Entry Card Readers, Weather Stations, Electronic Compasses, The TI82 interface, Water Volume Meters, and even Garage Door Openers

  5. Background/Materials • Bluetooth • Standard for wireless technology. • Developed by a group of electronics manufacturers to enable their electronic equipment to make their own connections without wires or user commands. • Bluetooth can be applied many different electronic devices.

  6. Materials • Gyroscope sensor (ADXRS150EB) from Analog Devices • EmbeddedBlue eb500 Wireless Module • DBT-120 USB Bluetooth adaptor • Hyperterminal • ADC Chip

  7. Background/Materials • Parallax Boe-Bot • Popular programmable robot. • Distinguishing feature is the Board of Education (BOE), which acts as the robot’s controller board.

  8. Objective • Design and implement an experiment to realize the wireless control of a commercially available robot. • Enhance the knowledge of LabVIEW, Data acquisition, Feedback control, and MEMS sensing. • Get an understanding of wireless communication using Bluetooth technology.

  9. Methodolgy • Actuation • Assemble Boe-Bot • Center Servomotors • Sensing • Calibrating Gyroscope • Control • LabVIEW and Basic Stamp programs • Wireless Communication • Bluetooth wireless

  10. Actuation • Boe-Bot Assembly • Little assembly required • Servomotor Centering • CenterServo Program • PULSEOUT = 750 results in 1.5 ms pulse width and stops motors

  11. Calibration/Sensing • Gyroscope Calibration • BASIC Stamp program controlled rotation of Boe-Bot • Pulse width varied between 650 and 850 with increments of 5 • Pause between changes in pulse width • LabVIEW collected gyroscope voltage data • Data Analysis with Microsoft Excel

  12. Calibration/Sensing

  13. Calibration/Sensing

  14. Calibration/Sensing • Determine Optimal PULSEOUT Commands • Experiment using calibration data • Fastest servo speeds are inefficient

  15. Control • Dictate Robot Motion via LabVIEW • Automatically computes pulses for angle and distance commands • Numbers then transferred into Basic Stamp

  16. Routes to be Followed

  17. Control

  18. Control

  19. Wireless Communication • Establish Initial Communication • Install and initialize Bluetooth drivers • Connect DBT-120 to eb500 card with Windows HyperTerminal

  20. Wireless Communication

  21. Monkey See, Monkey Do Main: SERIN 0,84,[DEC1 CmdData] DEBUG DEC1 CmdData BRANCH CmdData,[Hold, Move_Fwd, Turn_Left, Turn_Right, move_back] GOTO Main Move_Fwd: PULSOUT LMotor,LFwdFast PULSOUT RMotor,RFwdFast SEROUT 1,84,["1"] GOTO Main Turn_Left…

  22. Wireless Communication • Control Robot’s motion with HyperTerminal • 9-key BASIC Stamp program • Demonstration... 1 = Slow Left Turn 4 = Medium Left Turn 7 = Quick Left Turn 8 = Forward 9 = Quick Right Turn 6 = Medium Right Turn 3 = Slow Right Turn 2 = Backward 5 = Hold Position

  23. Wireless Control with HT

  24. LabVIEW and BASIC Stamp How do we use this: To control this?

  25. LabVIEW and BASIC Stamp

  26. LabView and BASIC Stamp

  27. Final Analysis and Results • Accomplishments: • Assembly, Actuation & Calibration of Boe-Bot • BASIC Stamp programming to move along pre-determined paths • Integration of Bluetooth technology • Real-time control with HyperTerminal • LabVIEW programming to control Boe-Bot motion with Bluetooth

  28. Final Analysis and Results • Results • Calibration worked well, gave understanding of BS2 programming and importance of feedback • HyperTerminal control works flawlessly • Room for improvement in LabVIEW control • Unable to establish wireless feedback

  29. Final Thoughts • Learned about wireless communication & robot control • Introduced to BASIC Stamp, HyperTerminal, LabVIEW, Bluetooth • Satisfied with results, still room for improvement

  30. Questions?

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