AS-84.3149 BionicsProject work spring 2008

Project work 2008Implement a Blind guide robot Analyze data from whisker sensors attached to the J2B2 robot and control robot so that it follows a markedTry to follow a path on the floor as accurately and quickly as possibleGet to know how to combine different tools for robot control (Simulink -> C)A final competition for different groups

Whisker sensorsWhisker sensors are build by attaching a whisker on a capacitive microphoneThis way whisker movement is sensed as change in voltageWhisker oscillation and movement can then be analyzed in time or frequency domainDue to non-industrial production of whiskers, they are not exactly similar

Data translation systemThe voltage from microphone is amplified and low-pass filtered using a analog filter-amplifier boardAmplified signal is A/D converted using a DSP prosessor board. The DSP does further low-pass filtering and sends the results trough RS-232 port as data packages at 250Hz frequencyDSPanalog voltageamplifiedanalog voltageRS-232

Data translation systemOne data package contains a starting byte (0x44), 8 data bytes and a end byte, which is contains package index (0-255)Each data byte corresponds to voltage output from 0 to 255, nominal (no movement) is 127The whiskers used for project are 1, 2, 3 and 5.0x448 data bytes index byte

Controlling the robotThe robot is controlled using an interface made in C++Project work however is done in matlab / simulink and the code is compiled to C-code using real-time workshop c-compilerSimulinkC-codeExecutableC-compilercompile withrobotinterface

SimulinkData is read to matlab and analyzedThen a simulink model is used to develop a control for the robotFor testing: Test_Environment, for controlling Driving_environment

CompilingCompilation to c-code is compiled easily with simulink, be sure to follow project work instructions carefully!Compiling with interface is done with Devcpp-programming environment, you dont have to make many changes, compilation should be easy

Connecting to robotWhen running the code, the laptop must be connected to robot with ethernet cable with following connection settings:IP: 192.168.10.2, Gateway: 192.168.10.1If you want to use internet change the settings to:IP: 130.233.120.81, Gateway: 130.233.120.254

Testing with robotThere is a simple ready-made user interface for robot control:Drive robot with a,w,s and dTerminate control thread for whiskers tExit application ESCRead the code in main.cpp for more accurate instructions

General stuffALWAYS leave the robot power chord on when not working (and maybe also when working)Read instructions for robot use from: http://automation.tkk.fi/AS-84-3145-ProjectWork/ImportantReserve the robot beforehand using reservation book at robot room (2551)

Outline of project workAnalyze data from whiskers using matlabCreate a control to follow, using whiskers and robot bumpers and test itWrite a report of the data-analysis and algorithm implementationA final competition between groups