Visual Aid

beobot_2.0

2013-01-28T17:18:48-07:00

People

beobot_2.0_electrical_system

2013-05-05T16:29:08-07:00

The electrical system consists of the following components: computing cluster, KVM system, power boards, sensors, motor control, and cooling system. This section also going to discuss the design decisions, part manufacturing, assembly, as well as testing.

beobot_2.0_electrical_system_altium_component

2013-05-03T17:07:38-07:00

A component is an electronic package that can be used to create a electronic circuit. A component can be quite simple (resistors, capacitors), and it can be very complex (like the COM Express Module w are going to build). It is important that, in Altium, there is a difference between a part and a component. A component can consist of several parts (each usually need its own schematic), like a package of 4 resistors parts.

beobot_2.0_electrical_system_altium_project

2013-05-03T17:08:26-07:00

We create a PCB project that features the COM Express module. This is going to be the first prototype. Things to test: * if the COM Express even work, first of all. * USB trace length * Gigabit Ethernet trace length * USB Hub * power related system * Mechanical: if anything (SATA/E card) can fit underneath the COM Express

beobot_2.0_electrical_system_altium_tutorial

2013-05-03T17:06:52-07:00

Altium Tutorial We will use the design and implementation of the Carrier boards for tutorial. There are two stages of implementations. The first is the schematic level, where we deal with symbols. The second is the physical board level, where we try to layout and rout our components taking into account their physical sizes and wire trace limitations.

beobot_2.0_electrical_system_assembly_house

2013-05-03T17:13:18-07:00

We wanted to do the assembly locally. So, we use the [| ThomasNet] directory. We type in “Printed Circuit Boards (PCB)” for product/service and specify “California - SOuthern” for the area. [ Zoominfo] may also be useful. We also googled “Assembly pcb los angeles”.

beobot_2.0_electrical_system_com_express

2013-05-03T17:14:29-07:00

The COM Express form factor module are specified by PCI Industrial Computer Manufacturer Group ([ PICMG]). Overview * Basic Module size of 95x125mm. * Supports: PCI Express (PCIe), SATA, USB 2.0, Gigabit Ethernet, Express Card * There are five different pinout types. Type 2 pinout is the preferred choice. * Connector: two 8mm stack height 440 pin (bridged 220 pin pair): Tyco 3-5353652-6 or Tyco 8-1318491-6

beobot_2.0_electrical_system_computer_processors

2013-05-03T17:13:56-07:00

Processors 300px328px Objectives * Top processors (as fast as possible): 2.5GHz or more. * 4GB of memory. * Gigabit Ethernet: no PCIexpress to Gigabit Ethernet Chip on the base board. * IEEE-1394 cameras: using ExpressCard. * Must be 8mm height connector.

beobot_2.0_electrical_system_pcb_combining

2013-05-03T17:10:29-07:00

* New file: File -> New _> Camtastic file * file-> quick load, then find the Gerber file folder * File -> setup -> import/export. Import Option -> Use existing layer. Editing * zoom in/out: ctrl-scroll wheel * Move command (icon with 2 arrows going down and two going down-right)

beobot_2.0_electrical_system_pcb_manufacturing

2013-05-03T17:11:00-07:00

Create Gerber Files First, we have to produce the manufacturing file outputs: Gerber files, which encode the following layers: * Top overlay (for labels): *.gto * Top solder mask: *.gts * Top layer (for copper): *.gtl * Bottom overlay (for labels): *.gbo * Bottom solder mask: *.gbs * Bottom layer (for copper): *.gbl

beobot_2.0_electrical_system_pcb_panelizing

2013-05-03T17:09:32-07:00

To panelize the PCB from altium do the following: 1) from your PCB document click File->Fabrication output->gerber files. This will create a camtastic document (CAMtastic1.Cam). 2) from your PCB document click File->Fabrication output->NC drill files. Check the Generate Board Edge Rout paths and set Rout tool Dia =10mil. Click Ok. This will produce another camtastic file (CAMtastic2.Cam). From this camtastic file click file->export->save drill. Save the drl file (cam.drl).

beobot_2.0_electrical_system_prototype_1

2013-05-03T17:17:03-07:00

Prototype 1 Objectives 300px 300px Since this is the time we worked with a COM express module, realistically, we just want to see if we can see if the module works on our baseboard. We also want to test the KVM circuits. In the current design, the high speed signals are spread out, minimal number of vias, and with no overlapping, except for the USB.

beobot_2.0_electrical_system_prototype_1_1

2013-05-03T17:17:36-07:00

Prototype 1.1 Objectives Since, COM Express cannot be tested in proto 1, this is a top priority. But we also made the layout to be exactly to what they would be in the final version. This means high speed signals are much closer to each other compared to proto1.

beobot_2.0_electrical_system_prototype_1_cb

2013-05-03T16:57:53-07:00

Cooling Board Objectives 300px 332px To Do * - Done * Propeller USB connection * Flowmeter reading processing * Propeller sonar processing * Power connector (12, 5VCC) Cooling Board Results No catastrophic errors. Bug List * USB signal (D+ and D-) is flipped, we are fixing the problem by rewiring the legs of the USB B connector. We fixed the Altium file so that this is not needed in the future.

beobot_2.0_electrical_system_prototype_1_pb

2013-01-28T19:04:04-07:00

In this section we are going to describe our decision process of how to go about supplying power to the motors and computers. The objective is to provide clean and fail-save power. The power to motors itself does not need to be filtered, but the power to the computer system must be.

beobot_2.0_electrical_system_prototype_1_routing

2013-05-03T17:08:57-07:00

We discuss the general guidelines for routing a PCB from a schematic using Altium. The main point to pay close attention is the specific rules for individual Differential pair signals (USB, GBE, etc). General Routing Guidelines We are going to use the Beobot2.0 base board schematics and rout it on a 4 layer PCB. Other (more expensive options) are 6 and 8 layers, which may ease routing.

beobot_2.0_electrical_system_prototype_final

2013-05-03T17:22:21-07:00

Prototype Final Objectives 300px312px Almost everything worked in Prototype 1.1 with the exception of Express card. And so, we decided to implement the simpler, more straightforward 'vertical slot PCI Express' instead. In addition, we also made the layout to be exactly to what they would be in the final version.

beobot_2.0_electrical_system_sensors

2013-01-28T19:00:17-07:00

These are the sensors that are furnished in Beobot2.0: Cameras Since we are primarily a vision robotics research group, selection of a camera (and the corresponding lens) is very critical. In addition, our system is also trying to emulate human vision. Thus, we also have to keep in mind what kind of stimulus is available to human vision system. The problem that we encounter is that a single regular camera may not be enough: 60 degree horizontal field of view, and for our 1/4” CCD camera 117cm …

beobot_2.0_electrical_to_do_list

2013-05-05T16:22:49-07:00

Future Additions * Robotic arm FIXXXScorBot bought from ebay * Design for Auxiliary power supply with a switch to change sources (with load balancing, etc). * Relay controller for head/tail lights Critical * Camera selection (in the sensors section). * Sturdier pole camera mount. * Push all SolidWorks/Altium files to SVN * Take pictures for all the maintanance procedures: charging batteries, etc. * Call Kontron to return Board!!! * Diagram module allocation in ful…

beobot_2.0_mechanical_system

2013-05-13T22:48:16-07:00

The mechanical system consists of locomotion, battery, cooling, and computer protection system. It discusses the design decisions, part manufacturing, assembly, as well as testing. It also includes integration issues between mechanical and electrical systems pertaining aspects such as making sure size (length, width, and height) of boards are accommodated, specifying connectors and their placements so that they are easily reachable, and cable placements.

beobot_2.0_mechanical_to_do_list

2013-05-03T16:47:09-07:00

Past Deadlines can be found here. Critical Matters * Camera mount: multiple camera rig, pan-tilt, single but heavy camera. Others Non Critical Matters * Sensors rack renovation to add new devices such as a robot arm. * cooling control board box

beobot_2.0_object_recognition

2013-07-24T12:59:49-07:00

Figure The second subsystem's goal is to allow visually impaired people to reach and grasp for objects of importance. attention, recognition, tracking. Flow Hardware used hardware figure Software

beobot_2.0_past_deadlines

2013-01-28T20:21:50-07:00

Past Deadlines Robot AnodizedJune 20, 2009 'Robot Almost done'June 28, 2009'''Robot done''''July 7, 2009 Past Weekly Meeting Notes September 9, 2008 September 16, 2008 October 14, 2008 December 14, 2008 Demo Script Back to main Beobot2.0 page

beobot_2.0_past_software_deadlines

2013-05-05T17:34:20-07:00

Tasks Date 6. JFR 2013 paper submitted Apr 20, 2013 5. IROS 2013 paper submitted Mar 22, 2013 4. ICRA 2012 paper submitted (accepted) Sep 15, 2012 3. IROS 2012 paper submitted (accepted) Mar 15, 2012 2. JFR 2011 paper submitted (accepted) Mar 31, 2010 1. IROS 2010 paper submitted (accepted) Mar 15, 2010 To Do * Firmware:

beobot_2.0_robot_body

2013-05-03T16:55:49-07:00

Robot Body 600px The goal for the robot body is a simple design that does the job. We would like a Watertight room to place the computing module to avoid unwanted environmental interference such as dust and splashed water. In addition, we want a platform on top of the robot to accommodate payload for sensors, robot arm, etc.

beobot_2.0_shock_absorption_system

2013-05-03T16:59:34-07:00

Shock Mounting 600px186px As illustrated in figure above, the computing module along with the cooling system, is mounted on four 25mm diameter shock-absorbing standoffs to withstand violent collision in the rare event the robot goes out of control or something attacks it. Because the only sturdy connection (aside from the power cable) between the computing system and the robot are these standoffs, the shocks and vibrations are isolated through them, making it easier to properly evaluate the ne…

beobot_2.0_software_system_gistsal_localization_navigation

2013-05-05T17:45:31-07:00

This system utilizes the salient regions that are recognized by the [ localization system] to direct the robot's heading. We submitted a paper to 'IROS 2010' and 'will create a webpage' about the navigation system summarizing it.

beobot_2.0_software_tools

2013-05-05T17:44:21-07:00

Software tools, etc that would be useful in optimizing robot systems: Distributed Computer Communication The Beobot2.0 software system uses ICE to communicate between computers in the cluster. However, we would like to improve it and add tools that can evaluate how the individual modules are performing, or whether the network is congested by which data packets.

beobot_2.0_system

2013-05-07T13:24:12-07:00

The goal of the software system is to create an autonomous mobile robotic system that can perform robustly in the unconstrained outdoor environments, particularly in the urban environment where there are many people walking about. It consists of high level vision algorithms that try to solve problems in vision localization, navigation, object recognition, and Human-Robot Interaction (HRI).

beobot_2.0_users_manual

2013-01-28T17:18:12-07:00

In this manual, we are going to show how to: * turn on Beobot 2.0 * charge the battery * charge the remote control * program * anatomy/parts * turn off Beobot 2.0 'FIXXX LED' indicator (off/on) Back to main Beobot2.0 page beobot

beobot_2.0_visualaid

2013-07-16T11:31:39-07:00

The VisualAid project is a tool to help the visually impaired recognize and purchase products at supermarkets. It consists of two sub-system Navigation and Recognition . People Name Task 1. Christian Siagian Mechanical, electrical, and software 2. Jack Eagan Mechanical, electrical, and software 2. Nii Mante Mechanical, electrical, and software 4. Kavi Tha…

beobot_2.0_visualaid_navigation

2013-07-23T14:17:54-07:00

Navigation The Navigation subsystem aims to replace conventional guidance systems such as seeing eye dogs and white canes. Composed of S.L.A.M. (Simultaneous Localization And Mapping)

beobot_2.0_visualaid_recognition

2013-07-16T11:42:43-07:00

Recognition

beobot_2.0_water_cooling_system

2013-05-03T16:57:38-07:00

Cooling System 350px410px We decided on a liquid cooling solution over air-cooling because it is far more effective (water transfers 30 times as much heat as air) and is much cleaner. That is, because we are planning to use the robot outdoors, there is plenty of dust in the air. Thus air cooling is not desirable as it may have an adverse effect on exposed electronics.

com_express_connector

2013-05-03T17:01:05-07:00

* Go to [ Tyco 5mm Height] [ Tyco 8mm Height ] website.

index

2013-08-07T11:51:19-07:00

The VisualAid project is launched to develop a fully integrated visual aid device to allow the visually impaired users go to a location and find an object of interest. The system utilizes a number of state-of-the-art techniques such as SLAM (Simultaneous Localization and Mapping) and visual object detection. The device is designed to complement existing tools for navigation, such as seeing eye dogs and white canes.

laser_range_finder

2013-01-28T19:01:21-07:00

Introduction The model we had is UTM-30LX from Hokuyo It is a compact and light Laser Range Finder which only 210g. Here is the spec: *Scan Angle 270º *Scan Speed 25ms（Motor rotation speed : 2400rpm） *Interface USB Ver2.0 Full Speed (12Mbps) *Supply Voltage 12VDC ±10% *Power Consumption Less than 8W *Guaranteed Range: 0.1 ~ 30m (White Kent Sheet) *Maximum Range : 0.1 ~ 60m *Minimum Width detected at 10m : 130mm (Change with distance)

pcb_panelize_different

2013-05-03T17:09:55-07:00

To panelize different boards on a single PCB do the following: 1) open your PCB project 2) click Project-> new.. -> PCB 3) press P or click place 4) Embedded board array. 5) choose your first PCB file 6) to place another board just click place embedded board array then choose the other file

start

2013-01-28T16:25:42-07:00

401px491px The Beobot 2.0 project is launched to create an integrated and embodied Artificial Intelligence system. Our main contribution here is that we provide all available information about our hardware robotics construction (in the mechanical CAD Solidworks files, as well as the electronics design PCB boards and list of components) as well as the robotics software, freely downloaded from the [ Vision Toolkit].

visualaid_navigation

2013-12-05T16:17:15-07:00

Navigation [ Navigation System] The goal of the navigation system is to recognize the location of the current user, create a path to a specified goal location, and guide the visually impaired user through obstacles and traversing paths. vision processing algorithms

visualaid_user_interface

2013-08-06T13:05:52-07:00

User Interface The user interface is based on an android phone with accessibility software. The capabilities that we are currently developing are: * Selecting an item from a list on a touchscreen: * Web-based Import a grocery list. We are also developing a voice input.

visualaid_users_manual

2013-08-05T21:52:44-07:00

User's Manual The following documents is comprised of . . . Connection To do: algorithms compiled and operates on AliewWare M18x Software Execution There are two independent parts of the system currently, one for object recognition, the other navigation. The former is under Linux (we use Ubuntu) platform, while the other is under Windows 7.