Projects:2016s1-146 Antonomous Robotics using NI MyRIO - Revision history

A1647176 at 01:23, 27 October 2016

2016-10-27T01:23:59Z

A1630384 at 01:17, 27 October 2016

2016-10-27T01:17:25Z

A1630384 at 01:13, 27 October 2016

2016-10-27T01:13:59Z

A1630384 at 01:10, 27 October 2016

2016-10-27T01:10:26Z

A1630384 at 01:00, 27 October 2016

2016-10-27T01:00:36Z

A1630384 at 00:51, 27 October 2016

2016-10-27T00:51:24Z

A1630384 at 00:14, 27 October 2016

2016-10-27T00:14:27Z

A1630384 at 00:08, 27 October 2016

2016-10-27T00:08:58Z

A1647176: /* Vision System */

2016-10-26T23:44:46Z

‎Vision System

A1630384 at 13:55, 26 October 2016

2016-10-26T13:55:25Z

@@ Line 147: / Line 147: @@
 [[File:pwm_example.png|frameless|center|upright=2]]
-<center>Figure 12: PWM and duty cycle example</center>
+<center>Figure 12: PWM and duty cycle example<ref>https://www.rmcybernetics.com/blog/basic-pwm-explanation/</ref></center>
 The motor balancing algorithm was invented to reduce the impact of any calibration issues and allow a rough calibration to be performed as the robot is operating. It starts by taking in the current encoder readings from each motor and comparing them to find if the robot is deviating to the left or right of its current path. After the deviation direction is located the motors are scaled either up or down to correct the robot back to the desired path.
@@ Line 215: / Line 215: @@
 The vision system for this project utilises a Microsoft Kinect RGB-D camera for obstacle mapping and wall alignment purposes. A breakdown of this camera can be seen below on the left, followed by the configuration in which the camera is mounted onto the robot on the right.
-[[File:Kinect.png|left|thumb|575px|Hardware Breakdown of Kinect (Reference for later: Microsoft, “Kinect for Windows Sensor Components and Specifications,” Microsoft, 2016. [Online]. Available: https://msdn.microsoft.com/en-us/library/jj131033.aspx. [Accessed 2 June 2016].)]]
+[[File:Kinect.png|left|thumb|575px|Hardware Breakdown of Kinect <ref>Microsoft, “Kinect for Windows Sensor Components and Specifications,” Microsoft, 2016. [Online]. Available: https://msdn.microsoft.com/en-us/library/jj131033.aspx. [Accessed 2 June 2016]</ref>]]
 [[File:Kinect on Robot.JPG|right|thumb|720px|Position of Kinect Camera on Robot Chassis]]
@@ Line 258: / Line 258: @@
 The pointBug algorithm is implemented in LabVIEW and tested to find the correct way point (sudden point ) to travel in order to reach the final destination point. The further work involves letting the robot to turn a certain degrees to get readings from the Kinect sensor to find the sudden point for the robot to travel to avoid collision with obstacle. Until the robot turns 360 degrees, the robot determines that the target point is unreachable and it stops.

@@ Line 249: / Line 249: @@
 The robot uses its sensors to check special points called sudden point. A sudden point is a point that the sensor detects change from the nearest obstacle to free space. To help to understand the concept, the figure below is used to explain the sudden point.
-[[File:Sudden Point.png]]
+[[File:Sudden Point.png|center]]
 The pointBug algorithm checks adjacent value in magnitudes array starting at the first element of the array, which was also corresponding to the first element of angles array.If there was 50cm difference between two adjacent readings from Lidar sensor, then a sudden change was detected. Then the algorithm determined the sudden point by first analyzing which point was closer to the robot between two adjacent sensor readings with 50cm difference between two values. The sudden point was chosen as the point that was further away from the robot and also the closest toward target point. If the sudden point was on the left of the obstacle that had been detected, the robot chose to go to the point more left to travel in order to safely avoid the obstacle, because there were 5-degree gap of Lidar sensor readings and there could be obstacle in the 5-degree gap. In the similar manner, if the sudden point was on the right of the obstacle that had been detected, the robot chose to go to the point more right. If there is no sudden point found, then the robot determines that the target is unreachable and it stops.

@@ Line 67: / Line 67: @@
 [[File:Milestone chart.png|center]]
-<center>Figure 2: National Instruments milestone chart</center>
+<center>Figure 3: National Instruments milestone chart</center>
 Below is the work that was completed for each Milestone.
@@ Line 79: / Line 79: @@
 [[File:Milestone 2 - Motor Control.gif|center]]
-<center>Figure 8: Milestone 2 - Motor Control</center>
+<center>Figure 4: Milestone 2 - Motor Control</center>
 [[File:Milestone 2 - Servo Control.gif|center]]
-<center>Figure 8: Milestone 2 - Servo Control</center>
+<center>Figure 5: Milestone 2 - Servo Control</center>
 [[File:Milestone 2 - Ultrasonic sensor.gif|center]]
-<center>Figure 8: Milestone 2 - Ultrasonic sensor</center>
+<center>Figure 6: Milestone 2 - Ultrasonic sensor</center>
 * Milestone 3: (8th June)
@@ Line 92: / Line 92: @@
 [[File:Milestone 3 - Linear Object avoidance.gif|center]]
-<center>Figure 8: Milestone 3 - Linear Object avoidance</center>
+<center>Figure 7: Milestone 3 - Linear Object avoidance</center>
 * Milestone 4: (25th July)
@@ Line 120: / Line 120: @@
 [[File:First Prototype.png|frameless|center|upright=2]]
-<center>Figure 3: First prototype</center>
+<center>Figure 9: First prototype</center>
 After some research and progress through the early stages of the project a more advanced prototype was created. This version consisted of a 4 omni-wheeled setup. The reason this setup was chosen was to enable the robot to move in any desired direction simply and efficiently.
 [[File:Second_Prototype.jpg|frameless|center|upright=2]]
-<center>Figure 4: Second prototype</center>
+<center>Figure 10: Second prototype</center>
 Finally, after the majority of research was done by all team members and a greater understanding of the capabilities of the previous prototypes the final robot was first designed and then constructed.
 [[File:011_DomeAttached.jpg|frameless|center|upright=2]]
-<center>Figure 5: Final build robot</center>
+<center>Figure 11: Final build robot</center>
 To view a more detailed breakdown of the process in designing and constructing final robot please click the link to 'Robot Construction' below.
@@ Line 147: / Line 147: @@
 [[File:pwm_example.png|frameless|center|upright=2]]
-<center>Figure 6: PWM and duty cycle example</center>
+<center>Figure 12: PWM and duty cycle example</center>
 The motor balancing algorithm was invented to reduce the impact of any calibration issues and allow a rough calibration to be performed as the robot is operating. It starts by taking in the current encoder readings from each motor and comparing them to find if the robot is deviating to the left or right of its current path. After the deviation direction is located the motors are scaled either up or down to correct the robot back to the desired path.
@@ Line 153: / Line 153: @@
 The results of this process can be seen in the video below.
 [[File:Movement_control_balancing_algorithm_1.gif|center]]
-<center>Figure 7: Motor control without balancing algorithm</center>
+<center>Figure 13: Motor control without balancing algorithm</center>
 [[File:Movement_control_balancing_algorithm_2.gif|center]]
-<center>Figure 8: Motor control with balancing algorithm</center>
+<center>Figure 14: Motor control with balancing algorithm</center>
 === Localisation System ===
@@ Line 258: / Line 258: @@
 The pointBug algorithm is implemented in LabVIEW and tested to find the correct way point (sudden point ) to travel in order to reach the final destination point. The further work involves letting the robot to turn a certain degrees to get readings from the Kinect sensor to find the sudden point for the robot to travel to avoid collision with obstacle. Until the robot turns 360 degrees, the robot determines that the target point is unreachable and it stops.

@@ Line 58: / Line 58: @@
 [[File:Wheel Layout.png|center]]
 [[File:Medicine delivery system.png|center]]
@@ Line 105: / Line 104: @@
 ** Requirement: Object handling, navigation and obstacle avoidance.
 ** Demonstrate: Move from location A (with loaded medicine units) to location B while avoiding obstacles. At location B, the robot carefully places a single medicine unit on an elevated platform (a platform higher than the ground the robot is on). The robot then moves to location C while avoiding obstacles to place another medicine unit on another elevated platform. Finally, the robot must move to location D while avoiding obstacles to finish the task.
 == Project Outcomes ==

@@ Line 61: / Line 61: @@
 [[File:Medicine delivery system.png|center]]
 == Milestones ==
-[[File:Milestone chart.png|frameless|center|upright=2.5]]
+[[File:Milestone chart.png|center]]
 <center>Figure 2: National Instruments milestone chart</center>
 * Milestone 1: (27th April)
 ** Completion of the Online NI LabVIEW Training Course (Core 1 and Core 2) by two team members.
 * Milestone 2: (9th May)
 ** Submit Project Proposal (300-500 words in MS Word or MS PPT format)
 ** Demonstrate usage of NI myRIO and LabVIEW to control at least one actuator/motor or acquire from at least one sensor.
@@ Line 86: / Line 89: @@
 * Milestone 3: (8th June)
 ** Requirement: Preliminary design and prototype with obstacle avoidance implemented.
 ** Demonstrate: Create a prototype that moves forward avoiding obstacles.
@@ Line 94: / Line 96: @@
 * Milestone 4: (25th July)
 ** Requirement: Demonstration of navigation/localisation and obstacles avoidance.
 ** Demonstrate: Robot begins with loaded medicine units in location A and then moves to location B. At location B, the robot carefully places a single medicine unit on an elevated space (a platform higher than the ground the robot is on).
@@ Line 101: / Line 102: @@
 <center>Figure 8: Milestone 4 - Navigation and Unloading Medicine Unit</center>
-*Milestone 5: (29th August) Requirement to Qualify for Finals.
+* Milestone 5: (29th August) Requirement to Qualify for Finals.
 ** Requirement: Object handling, navigation and obstacle avoidance.
 ** Demonstrate: Move from location A (with loaded medicine units) to location B while avoiding obstacles. At location B, the robot carefully places a single medicine unit on an elevated platform (a platform higher than the ground the robot is on). The robot then moves to location C while avoiding obstacles to place another medicine unit on another elevated platform. Finally, the robot must move to location D while avoiding obstacles to finish the task.
@@ Line 108: / Line 108: @@
 [[File:Milestone 5 - Navigation and Obstacle Avoidance.gif|center]]
 <center>Figure 8: Milestone 5 - Navigation and Obstacle Avoidance</center>
@@ Line 132: / Line 117: @@
 ----
 Throughout the course of this project two prototypes and a final robot product was developed. Initially, the first prototype was developed as a simple two wheeled robot which the team could use to experiment on and learn from.It was constructed from a single 300 x 300mm wooden base which various wheels and sensors were attached to.

← Older revision		Revision as of 00:51, 27 October 2016
Line 61:		Line 61:

	[[File:Medicine delivery system.png\|center]]		[[File:Medicine delivery system.png\|center]]
		+
		+	== Milestones ==
		+
		+	[[File:Milestone chart.png\|frameless\|center\|upright=2.5]]
		+	<center>Figure 2: National Instruments milestone chart</center>
		+
		+	* Milestone 1: (27th April)
		+
		+	** Completion of the Online NI LabVIEW Training Course (Core 1 and Core 2) by two team members.
		+
		+	* Milestone 2: (9th May)
		+
		+	** Submit Project Proposal (300-500 words in MS Word or MS PPT format)
		+	** Demonstrate usage of NI myRIO and LabVIEW to control at least one actuator/motor or acquire from at least one sensor.
		+
		+	[[File:Milestone 2 - Motor Control.gif\|center]]
		+	<center>Figure 8: Milestone 2 - Motor Control</center>
		+
		+	[[File:Milestone 2 - Servo Control.gif\|center]]
		+	<center>Figure 8: Milestone 2 - Servo Control</center>
		+
		+	[[File:Milestone 2 - Ultrasonic sensor.gif\|center]]
		+	<center>Figure 8: Milestone 2 - Ultrasonic sensor</center>
		+
		+	* Milestone 3: (8th June)
		+
		+	** Requirement: Preliminary design and prototype with obstacle avoidance implemented.
		+	** Demonstrate: Create a prototype that moves forward avoiding obstacles.
		+
		+	[[File:Milestone 3 - Linear Object avoidance.gif\|center]]
		+	<center>Figure 8: Milestone 3 - Linear Object avoidance</center>
		+
		+	* Milestone 4: (25th July)
		+
		+	** Requirement: Demonstration of navigation/localisation and obstacles avoidance.
		+	** Demonstrate: Robot begins with loaded medicine units in location A and then moves to location B. At location B, the robot carefully places a single medicine unit on an elevated space (a platform higher than the ground the robot is on).
		+
		+	[[File:Milestone 4 - Navigation and Unloading Medicine Unit.gif\|center]]
		+	<center>Figure 8: Milestone 4 - Navigation and Unloading Medicine Unit</center>
		+
		+	*Milestone 5: (29th August) Requirement to Qualify for Finals.
		+
		+	** Requirement: Object handling, navigation and obstacle avoidance.
		+	** Demonstrate: Move from location A (with loaded medicine units) to location B while avoiding obstacles. At location B, the robot carefully places a single medicine unit on an elevated platform (a platform higher than the ground the robot is on). The robot then moves to location C while avoiding obstacles to place another medicine unit on another elevated platform. Finally, the robot must move to location D while avoiding obstacles to finish the task.
		+
		+	[[File:Milestone 5 - Navigation and Obstacle Avoidance.gif\|center]]
		+	<center>Figure 8: Milestone 5 - Navigation and Obstacle Avoidance</center>
		+
		+	[[File:Movement_control_balancing_algorithm_2.gif\|center]]
		+	<center>Figure 8: Motor control with balancing algorithm</center>
		+
		+
		+	[[File:Movement_control_balancing_algorithm_2.gif\|center]]
		+	<center>Figure 8: Motor control with balancing algorithm</center>
		+
		+
		+	[[File:Movement_control_balancing_algorithm_2.gif\|center]]
		+	<center>Figure 8: Motor control with balancing algorithm</center>
		+
		+
		+	[[File:Movement_control_balancing_algorithm_2.gif\|center]]
		+	<center>Figure 8: Motor control with balancing algorithm</center>
		+

	== Project Outcomes ==		== Project Outcomes ==

← Older revision		Revision as of 00:08, 27 October 2016
Line 106:		Line 106:

	The results of this process can be seen in the video below.		The results of this process can be seen in the video below.
		+	[[File:Movement_control_balancing_algorithm_1.gif\|frameless\|center\|upright=2]]
		+	<center>Figure 7: Motor control without balancing algorithm</center>

	=== Localisation System ===		=== Localisation System ===

@@ Line 173: / Line 173: @@
 ==== Obstacle Mapping ====
 The method for mapping obstacles from the Kinect's depth readings involves two steps: lens distortion correction, and rotation and translation. To see an in-depth explanation of these methods, click [[Projects:2016s1-146 Antonomous Robotics using NI MyRIO - Vision Method|here]].
-Using LabVIEW on the myRIO device, a data set was captured of boxes placed in a room corner. The colour image of this set up can be seen below
+To demonstrate the outcome of applying these methods using LabVIEW on the myRIO device, a data set was captured of boxes placed in a room corner. The set of images below show: the colour image of the capture (left), the 3D plot of the data created from the IR camera readings (middle), and the corresponding 2D obstacle map.
-The IR depth capture was then taken and processed using the methods mentioned previously. Below is the result of mapping this depth data into a 3D space (dimensions shown are in mm).
+[[File:Boxes obstacles.jpg|center|thumb|1200px|Creating Obstacle Mapping of Boxes]]
-[[File:Boxes obstacles.jpg|center|thumb|1200px|Creating Obstacle Mapping of Boxes]]
+==== Wall Alignment ====
-==== Wall Alignment ====
+The movement system can then perform rotations by this measured angle to result in the robot facing the desired wall.
 === Path Planning ===

← Older revision		Revision as of 13:55, 26 October 2016
Line 106:		Line 106:

	The results of this process can be seen in the video below.		The results of this process can be seen in the video below.
−	~~[[File:Example.jpg]]~~
−
−
−	~~==== Future Progress ====~~
−
−	The design and construction of a new prototype for testing the 4 wheel configuration. This will be separate from the current prototype and will enable the team to compare the two designs and come to an agreement on the configuration that will be used for the final build robot. The new prototype will consist of a 300mm x 300mm aluminum or Perspex base and the four wheel Omni-wheel design discussed.
−
−	A likely inclusion to the new prototype will be an upgrade to a two tier system design. This will involve an additional 300mm x 300mm aluminum or Perspex panel which will be mounted a short distance directly above the first base. This will provide an upper level which various sensors and the medicine delivery system can be mounted onto.

	=== Localisation System ===		=== Localisation System ===