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Control Systems: Project Proposal Case Study
Introduction
This case study is prepared as to the ideas and framework we have in mind for the proposed project i.e. Multi Function Robot , for this course. The inspiration for this project came from certain sources which includes a USB missile launcher, fire extinguisher and color detecting robot (The links of the sources are mentioned in the end of the case study). We are trying to merge some ideas in one project.
The video link for the USB Missile launcher illustrated how by translating values from PC Joystick or keyboard, controls the USB Missile Launcher and fire at objects that we see from its point of view on the monitor with the help of a web cam attached to it. This link inspired us to make our robot controllable from the PC i.e. the user will be able to control the robot from a distance with the vision provided by the camera.
After this decision, our question was; what is this robot supposed to do once we will be able to translate and control its motion. While discussing the ideas for our robot we decided to make a fire extinguisher which will track down the fire using heat sensors and extinguish it. But we came to know that this idea is already proposed by another group. So here; we have fixed on using that idea, only with some alterations. We have decided to use a fan for the fire extinguishing module and it will be switched on and off from the PC control.
Lastly, we have decided to add some processing module too. Since until now what we have decided comprises much on the controls. For this we have decided to add a color detecting module using image processing with a multi color spray setup. The robot is supposed to detect the colors and after accessing it, it will spray that color from the sprayer.
The last module seems to us a long shot but we are counting on our teachers to help us through. After all, a goal properly set is half way reached.
Control Systems: Project Proposal Case Study
Literature Review
There are many examples of such robots which can be controlled by PC, remote and even mobiles. One such example is a computer controlled robot system for positioning a patient for radiation therapy or other medical procedures and the like.
Another example is an RF Remote Control System. It is built by some inexpensive components, transmitter, and receiver by using PicBasic.
Some examples include softwares which use VBscript for the interfacing between robot and the PC. PID controllers are very common for robot controls.
This is a very common project in robotics. Many different techniques are used for the navigation and sensing of the robot. Some fire extinguishing robots use water to extinguish fire, others use fan (in cases of minor fire).
Remote Control and PC Controlled Robots:
Fire extinguisher Robot:
Figure 1. Remote Control Software (VBscript) and Hardware examples
Figure 2. Fire extinguisher robots. Left: Uses water. Right: Uses a fan
Control Systems: Project Proposal Case Study
Methodology
We have planned to use Lego blocks and a pair of Lego rover tires for building the main structure of our robot, because it’s inexpensive and easy.
The motion of this robot i.e. its translation and rotation in will be controlled by two DC motors, (recommended by our instructor). One motor will be responsible for the forward and backward motion of this robot, and the other will be used to rotate the camera and sprayer setup mounted on it.
Main Structure of the Robot:
Figure 6. Lego Blocks and rover tire to build main structure of the robot
Motion of the Robot:
Figure 7. Motor rotation direction for the pair of tires to move forward or backward.
Figure 8. Motor rotation direction for the movement of camera and sprayer setup.
Control Systems: Project Proposal Case Study
We have kept this setup simple. The fan will be connected to the PC control, and will be switched on and off when desired. For this module we have chosen a miniature fan operated by two AAA 1.5 V batteries.
For this module, we are planning to fix three mini color sprayers (red, yellow, blue) on our robot. It will be programmed such way that, after detecting the color of the object in front of it, the robot will spray that color. These sprayers will separately or mutually turn on and off, depending on the color of the object. For making up this logic, we will use the following color wheel.
Fan Setup:
Figure 9. Miniature fan for fire extinguishing module
Color Sprayer Module:
Figure 10. Color wheel for sprayer logic
Control Systems: Project Proposal Case Study
Analysis
In this project a combination of color detection, fire extinguisher and color sprayer module do not sound much of a practical representation. But owing to our interest in different areas, we wanted to have a flavor of the major areas of control engineering and also the zest of the now a day’s popular technology relating to our field.
The control module of this project seemed to us a very vital point to start from. It will help us with the interfacing and execution of basic control setup in other projects and will provide an understanding of control systems.
We are looking forward to the designing and formation of this robot in view of the fact that it will help us sculpt the designed systems into real time systems.
The color detection module is also an important part of the technologies being used now days, because color detection is the base of image recognition which is a fundamental part of GPS (Global Positioning System). The role of this system for defense and in case of emergencies is very evident.
Control Systems: Project Proposal Case Study
Equipment and Cost Analysis
This is an estimated equipment and cost analysis.
For Main Structure:
Lego blocks
2 Lego rover tires
Connecting Wires
Gears
2 DC Motors
Microcontroller chip
To detect the target:
Camera
Personal computer or laptop
For Fire Extinguishing Purpose:
Small fan
Switch to on/off the fan
For Color detection and spraying:
Spraying setup
Water paints or some other kind of paints
Control Systems: Project Proposal Case Study
References
http://www.rentron.com/ruf-bot.htm
http://www.seattlerobotics.org/Encoder/200108/using_a_pid.html
http://www.societyofrobots.com/programming_PID.shtml
http://www.youtube.com/watch?v=8ot0-PCh-o
