TEAM DETECTIVE

Manish ShresthaMridul Chowdhury

Anurag MishraNoorin Fatima

Project Description Architecture Design- Robot Architecture Design- SunSPOT Software Used For Creating Robot Behavior Robot Movie Clip (Car) Robot Movie Clip (Humanoid) SunSPOT Demo Requirements Implementation Budget and Cost Project Mistakes Accomplishments Lessons Learnt Thanks Questions

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The purpose of the project is to design a data collection test bed for SunSPOT devices and design Bioloid robots to carry SunSPOT’s to explore a certain area and collect data.

The project is sponsored by Heracleia Lab @CSE, UTA.

Base station

Software Interface

PC

Data from Sensor devices

transmitted wirelessly to Base station

2 APIs for each Robot

Event Driven action by the Robot

Action 3: Dog Bark!

Action 2: Lift Left Limb

Action 1: Turn Right!

...and so on...

Two Wireless Sensor Devices

Robot(s) shall carry SPOT(s)

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The SunSPOT part of the project has five main layers:

User Interface Layer – Controls the SunSPOT devices, and the data received from the SPOTs.

Control Layer – Controls the flow of data between the user interface, base SunSPOT device, and data management layers.

Data Management Layer- Saves the data gathered from the SPOTs. It sends the requested data from the data files and displays it.

Base Device Layer – Transmits data between the free range SPOTs and the server.

Free Range Device Layer– Transmits data to the server via base station.

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USER INTERFACE

CONTROL

DATA MANAGEMENT BASE SUNSPOT DEVICE

(Multiple) FREE RANGE

SENSOR DEVICES

Administrative Interface

Wireless communication between Sensor Devices

and Basestation (via USB)

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The Robot Architecture is divided into two main layers:

Software Layer: Responsible to make Bioloid Robots carry out complex functions for its behavior.

Hardware Layer: Responsible for assembling functional robots using its parts.

Note: The SunSPOT free range device shall be attached to the robots to gather data.

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SunSPOT Free Range Deivce

BCP

textCM5 Controller

Other Robot Parts

AX12AXS1

DYNAMIXELS

(Robot’s Payload)

SunSPOT BASE

Hardware PartSoftware Part

ROBOT ARCHITECTURE

Accomplished by Other Teams

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BCP- allows a user to program sequences of events and motions

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Motion Editor- allows a user to create motion sequences for a robot

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The user interface for the SPOTs shall deploy only two wireless sensor devices.

The user interface shall gather data that would be categorized under temperature, movement, and light stored accordingly.

The user interface shall have data storage files that shall be named in the following format: SensorID.Date.StartTime.SensorType.dat.

The data captured from the free range SunSPOTs that are transferred wirelessly to the basestation shall be reformatted to a 2D graphical representation.

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BASE STATION

Sensor Deivces

Temperature Movement Light

Each sensor device has 3

built-in sensorsEg: A.04.01.08.14:05.Temperature.dat

The user interface shall give the user the option of choosing the specific sensor and the specific type of value for the sensor.

The user interface shall be able to handle additional sensors.

The output from all sensors from a device at a particular time shall be written to a file with the timestamp received.

The program shall display real time data received from the SunSPOTs.

The product shall comply with IEEE 802.15.4 wireless standards.

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The product shall have two robots designed one from each category- a simplified version and a complex version.

The robots used in this project shall follow the Bioloid robots standards.

The robot shall not lose balance during its movement from one point to other.

The robot shall have a high level API built on top of the built-in lower level API. The new API shall be built depending on the shape of the robot designed.

Team Detective 16Built-in Lower Level API

High Level API shall be built on top of the Lower

Level API

moveRightLimbUp();takeLeftTurn();

Bark();sayHello();

Robot actions pose-to-pose based- e.g., lifting right limb up could be composed

of several poses stitched togther

Robot Images: google.com

The robot shall have a higher level API to control its movement. The software shall not crash the user’s computer. All the errors in the software shall have unique error codes.

The software interface shall have a password to protect it from non administrative users. The user shall be able to switch off radio transmission through from the SunSPOTs to

conserve power. All the received information from the product shall be backed up every hour. All the error codes and its support will be stored in the error code manual.

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The SunSPOT devices and the Bioloid Robot parts were provided by the Heracleia Lab.

No other expenses, were required for the project. The $800 budget was never used.

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Updated the customer regularly, but missed on a few occasions (time conflicts due to workload from other classes, etc.)

Should have started constructing the robots before our scheduled predicted date.

Focused on wrong problem.

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Good team management by the team lead Successful completion of more than 80%

of the specified requirements

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Gained valuable experience on the technical front working on SunSPOT software and Robot’s software and hardware.

Learnt how to maintain good organization within a team with better problem solving skills

Learnt better time management skills

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Mr. Tom Rethard- providing support and guidance for the project.

Ms. Zhengyi Le (Sponsor) - helping throughout the project by keeping track of our progress.

Heracleia Lab- sponsoring the project and providing the parts for the project.

Team Subway, Team Noah, Team Warthog- helping out with useful informations for the projects, suggestions and advice.

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TEAM DETECTIVE

Manish Shrestha Noorin Fatima Anurag Mishra Mridul Chowdhury