Urban Search and Rescue Robotics Technical Conclusions & - PowerPoint PPT Presentation

Urban Search and Rescue Robotics

Technical Conclusions & Sponsorship Finances Introduction Introduction Approach Competition Improvements Recommendations Contents • Introduction • Technical Improvements • RoboCup Rescue Competition • Publicity and Sponsorship • Finance • Conclusions • Recommendations for Future Work

Technical Conclusions & Sponsorship Finances Introduction Introduction Approach Competition Improvements Recommendations The Project • Urban Search and Rescue Robotics • Construction of Tele-Operated Robot • An Evolution of WMR

Technical Conclusions & Sponsorship Finances Introduction Introduction Approach Competition Improvements Recommendations The Team Kyle Blanch Project Manager Joe Tomita Ethan Fowler Tobias Burgess CAD Lead Systems Lead Secretary Sam Johnston Tim Bradley Finance Officer Sponsorship Off. Software and Electronics Team Simon Yeung Anirudh Vijay H & S Officer Publicity Officer Mechanical Team

Technical Conclusions & Sponsorship Finances Introduction Approach Approach Competition Improvements Recommendations Project Approach Identified Prioritised 2010/2011 Robot SWOT Improvements Improvements Aims & Objectives • Re-engineer the 2010/2011 robot to deliver a greater level of performance in terms of functionality and reliability • Successfully compete in the 2012 German Open RoboCup Rescue Competition and the associated mobility and manipulation challenges Lower Level Targets • Set Specifications and Goals

Technical Technical Conclusions & Sponsorship Finances Introduction Approach Competition Improvements Improvements Recommendations The Mechanical Arm • 5 revolute joints move the sensory elements and gripper into positions that will allow victims to be identified and supported

Technical Technical Conclusions & Sponsorship Finances Introduction Approach Competition Improvements Improvements Recommendations Design Aims • Redistribute weight to reduce the inertia of the arm • Reduce levels of backlash in the arm joints • Modular Design of the arm assembly for ease of manufacture

Technical Technical Conclusions & Sponsorship Finances Introduction Approach Competition Improvements Improvements Recommendations Design Changes • The following design changes were made to increase the reliability and functionality of the arm:

Technical Technical Conclusions & Sponsorship Finances Introduction Approach Competition Improvements Improvements Recommendations Arm Manufacture and Testing • Individual Parts, Assembly files and Technical drawings created • FEA analysis carried out on critical parts • Testing of shoulder and elbow joints before the competition

Technical Technical Conclusions & Sponsorship Finances Introduction Approach Competition Improvements Improvements Recommendations Arm Control Methods Joint Control Inverse Kinematics User User Estimates required Observes Observes joints All Current Limb Current Head Controller Input Controller Input Positions Position Interpretation Interpretation Desired Change in Desired Change in Goal Configuration Goal Position Joint Angles Position Motor Inverse control Kinematics Joint Geometric Enact Solution Angle Possible Solutions Solutions Limits Weighted Joint Importance Motor Enact Solution Best Solution control

Technical Technical Conclusions & Sponsorship Finances Introduction Approach Competition Improvements Improvements Recommendations Sensor Locations • CO 2 Sensor • IR Camera • RGB (IP) Camera • Duplex Audio • Illumination LED • Gripper • xSens Module • LiDAR

Technical Technical Conclusions & Sponsorship Finances Introduction Approach Competition Improvements Improvements Recommendations Mapping and 3D Scanning • Mapping hugely useful • 2D plane from LiDAR • Map constructed (SLAM) • 3D scan by combination with xSens data • 3D SLAM very difficult • Stephan Winkvist’s PhD proof of concept

Technical Technical Conclusions & Sponsorship Finances Introduction Approach Competition Improvements Improvements Recommendations User Interface

Technical Conclusions & Competition Sponsorship Finances Introduction Approach Competition Improvements Recommendations RoboCup Rescue Competition

Technical Conclusions & Competition Sponsorship Finances Introduction Approach Competition Improvements Recommendations Awards 2 nd Place Overall Best in Class for Best In Class for Manipulation Mobility

Technical Conclusions & Competition Sponsorship Finances Introduction Approach Competition Improvements Recommendations Robot Issues Problems • Software Feedback • Camera Positioning Solutions • Centre of gravity, Visual Representation • Higher Fixed Driving Position

Technical Conclusions & Sponsorship Finances Introduction Approach Competition Sponsorship Improvements Recommendations Sponsorship • Used sponsorship pack, leaflets and specialised e-mails • Total of £11,500 generated along with other non monetary support • Sponsors for 2011/2012: The Vice Chancellor The University of Warwick

Technical Conclusions & Sponsorship Finances Introduction Approach Competition Sponsorship Improvements Recommendations Publicity Events Outreach Program Antennae Live at The Science Museum

Technical Conclusions & Sponsorship Finances Introduction Approach Competition Sponsorship Improvements Recommendations Media Presence Format Publisher Date Published Coventry Telegraph Mar-12 Manchester evening News Liverpool Echo Newspaper Coventry Telegraph Evesham Observer Apr-12 Evesham Journal The Boar Warwick University Mar-12 Culture 24 Talk Science Museum Learning View London Websites Referenced in BBC Article “Kinect for Windows gesture sensor launched by Feb-12 Microsoft” Rex Press Agency London Mums Science Business BBC Focus Magazine (66,445 readers) Mar-12 Other Facebook and Twitter Nov-11

Technical Conclusions & Sponsorship Finances Finances Introduction Approach Competition Improvements Recommendations Finance – Areas of Expenditure £365.21 £1502 Admin £2604.40 Arm £635.92 Chassis Electronics £634.98 Office Equipment Robocup £114.50 £4.83 Sensors Travel £3786.33

Conclusions & Technical Conclusions & Sponsorship Finances Introduction Approach Competition Recommendations Improvements Recommendations Summary 1) The Robotic Arm was the biggest improvement 2) Electronic reliability was improved in the stack and wiring 3) A lack of remote operator feedback and awareness is evident 4) Arm manufacturing delays led to limited testing 5) Achieved at RoboCup Rescue 2012 German Open: • 2 nd Place Overall • Best in Class Mobility • Best in Class Manipulation

Conclusions & Technical Conclusions & Sponsorship Finances Introduction Approach Competition Recommendations Improvements Recommendations Conclusions • Publicity should be independent of project progress • Both internal and external lead-times are unpredictable • Stress analysis of isotropic sintered materials inaccurate • Geometric accuracy of rapid-prototyped parts can be poor • Cantilever loading is a strong source of worm-drive backlash

Conclusions & Technical Conclusions & Sponsorship Finances Introduction Approach Competition Recommendations Improvements Recommendations Recommendations for Future Teams • Mounting of webcam to view the robot and surroundings • Additional degree of freedom in arm (rotation in the x-axis) • Implement a 3D visual representation and Centre of Gravity • Redesign the robot chassis to aid flipper motion • Greater expertise in electronics, software and coding • Partnership with another institution

Conclusions & Technical Conclusions & Sponsorship Finances Introduction Approach Competition Recommendations Improvements Recommendations Thank you for listening Feel free to ask any questions, or request a specific feature demonstration