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![Page 1: City College of New York 1 John (Jizhong) Xiao Robotics and Intelligent Systems Lab Department of Electrical Engineering City College of New York Tel:](https://reader035.fdocuments.in/reader035/viewer/2022062314/56649cce5503460f9499a3bb/html5/thumbnails/1.jpg)
1City College of New York
John (Jizhong) XiaoRobotics and Intelligent Systems LabDepartment of Electrical Engineering
City College of New York
Tel: 212-650-7268Email: [email protected]: http://134.74.16.73
Robotics Research at CCNY
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2City College of New York
Current Projects• NSF MII Planning Project:
– Center of Perceptual Robotics and Intelligent Systems (PRISM Center at CCNY)
– Funding Agency: NSF Minority Institutional Infrastructure Program
• Wall-climbing Robot project – Funding Agency: Army Research Office
• Smart Brain project – Funding Agency: NSF Major Research Instrument
Program
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3City College of New York
Wall-climbing Robot Project• Project Title:
– Cooperative Wall-climbing Robots in 3D Environments for Surveillance and Target Tracking
• The objective: – develop a modular, re-configurable, wall-climbing
robotic system and to investigate intelligent control methods and vision algorithms to control and coordinate a team of such robots to perform various defense, security, and inspection missions.
• Principle Investigators:– John Xiao (EE), Zhigang Zhu (CS)– Ali Sadegh (ME)
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4City College of New York
Wall-climbing Robot Project• Dream:
– transform the present 2-D world of mobile rovers into a new 3-D universe.
– move on ground, climb walls, walk on ceilings, transit between surfaces.
• Applications:– Urban warfare applications: surveillance and reconnaissance,
weapon delivery, guiding perimeter around a building, etc– Security and counter-terrorist applications: intelligence
gathering about a hostile situation within a building, etc.– Inspection and maintenance applications: routine inspection
of buildings, nuclear containment domes, and other hard-to-reach places, inspection of aircraft, sand blasting of ship hulls, etc.
– Other Civilian applications: assistance in firefighting, search and rescue operations, etc.
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5City College of New York
Wall-climbing Robot Project• Challenges:
– Adhesive mechanism • strong attraction force on various wall surfaces
(brick, wood, glass, stucco, plaster, and metal) • without sacrificing mobility
– Transition Mechanism• wheeled robot to achieve quick motion• articulated structure for smooth transition• modular design combine two
– Control/coordination of multiple robot modules– Vision research for surveillance applications
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6City College of New York
Existing Technologies and Robots
• Existing Technologies– magnetic attraction devices– vacuum suction techniques– biologically inspired
• gecko foot • limbed devices
– aerodynamics attraction• vortex attraction technique• attraction generated by propeller
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7City College of New York
Existing Technologies and Robots• Existing wall-climbers:
MSU “Flipper” & “Crawler”JPL-Stanford rock climber
Avionic Instruments Inc. Vortex attraction technique iRobot’s Mecho-Gecko
CM
U gecko inspired
climber
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8City College of New York
Wall Climber: Adhesive Mechanism
• Design alternatives:– vacuum pumps (MSU climber)– vortex attraction device– vacuum rotor package
Vacuummotor
air out
air out
air in
Vacuumimpeller
Exhaust(outer)
Exhaust(inner)
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9City College of New York
Wall Climber: Vacuum Chamber Seal
• Inflated Tube Skirt Seal
• Flexible Bristle Skirt Seal
attraction force is so strong that it anchored the device to wall surfaces
trade-off between sealing and mobility
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10City College of New York
Wall Climber: Selected Design
• Selected Design– vacuum rotor package– flexible bristle skirt seal– differential drive – pressure force isolation rim (re-foam)
• improves mobility, & enhances sealing by reducing the deformation of the skirt
R e-fo am
S k irt
V acu u m O ff
R e-fo am
S k irt
V acu u m O n
R eac tio n fo rce s fro m w e ig h tan d p re ssu re fo rce o n
o u te r r im a rea o n ly
R eac tio n fo rce s fro m w e ig h tan d p re ssu re fo rce o n
o u te r r im a rea o n ly
Plate
R e-foam
P ressu reF o rce
D rive wheel
R eac tio n fo rce s fro m w e ig h t
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11City College of New York
Wall Climber: Transition Mechanism
• Modular Design
Four wall-climber modules are configured to form a larger wall-climbing robot which can carry heavy payload
• Transition Mechanism
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12City College of New York
DSP-based Control System
33887M otoro la
F2812 D SP
33887M otoro la
M 2
M 3
M 1
O UT1
O UT2
O UT2
IN1
IN2
IN1
IN2
PW M1
PW M2
PW M3
PW M4
PW M5
PW M6
PW M7
PW M8
M 1Encoder
M 2Encoder
M 3Encoder
C hA
C hA
C hA
C hB
C hB
C hB
Q EP1
Q EP2
Q EP3
Q EP4
CAP3
CAP6
ADCINB4
ADCINB3P-Sensor2
P-Sensor1
PresssureSensor
G PIO B6Valve1
SC I-B
G PIO F, 8,9,10,11,12,13
6 D igita l I/O Sensors
G PIO B2 EN
G PIO B3 EN
G PIO B4
G PIO B5
R S232 R eceiver
IRSensor
(SH AR P)
ADCINA7ADCINB5ADCINB6ADCINB7
O UT1
33887M otoro laO UT2
IN1
IN2
ENO UT1
33887M otoro laO UT2
IN1
IN2
EN
O UT1XINT1
G PIO B7
FB
FB
FB
M 3
D rive M otor
D ecoder
U ltrason icS ensor
eco
Trig
M A R G
M agnetic
Accelerom eter
G YR O
ADCINB0ADCINB1ADCINB2
ADCINA3
ADCINA0ADCINA1ADCINA2
ADCINA4ADCINA5ADCINA6
R S232H ost C om puter
SC I-A
D rive M otor
L ift M otor
Vacuum M otor
• Actuator and sensor suite
•TMS320F2812 DSP from Texas Instruments Inc.
• 32-bit Processor
• Target for control applications
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13City College of New York
Wall Climber: Software Structure
M otorController
Task LevelScheduler
TrajectoryP lanner
M otor1
Encoder
M otor 2
Encoder
Encoder
Valve
C lim bing R obot
P ressure S ensors
M otion S tatus
Desired angles
Task leve lcom m ands
M otion steps
InfraredSensor
SonarSensor
M ARGsensor
M icrocam era
M otor 3
Motor
Com m andInterpreter
M otionP lanner
Rem oteContro ller
O peratorCom m ands
Feasib le m otionsequence
In itia l & goa lconfigura tions
E nvironm ent
W all Surface
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14City College of New York
CCNY Wall Climber Prototypes
Prototype III, vacuum rotor package
Prototype II, inflated tube seal
Prototype II, flexible bristle skirt seal
Prototype I, vortex attraction
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15City College of New York
CCNY Wall Climber Prototypes
• Video
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16City College of New York
Smart Brain Project• Project Title:
– Smart Re-configureable Miniature Robot Systems Based on System on Programmable Chip Technology
– NSF MRI Instrument Development
• The objective:– to develop highly-adaptive computation module based
on SoPC technology (FPGA) for ultra-small robots – to realize onboard sensor processing, advanced motion
control, and reliable wireless communication
• Principle Investigators:– Umit Uyar (EE), John Xiao (EE)
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17City College of New York
Project Overview• FPGA technology
– programmable logic programmable systems– integrate FPGA logic, embedded high-performance
processors, digital signal processor (DSP) blocks, and multi-gigabit transceivers, making FPGA a versatile technology for high-end research and commercial products.
• FPGA Device Features– Xilinx Virtex-II Pro family FPGA device – two 32-bit IBM PowerPC 405 cores– FPGA logic, DSP blocks– 10M of block RAM, off-chip memory as a gap-stop
measure – Xilinx Intellectual Property (IP) Core library
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18City College of New York
Project Overview
• Benefits– flexibility, reconfigureability
• hardware reconfigureable, software reprogrammable
– hardware/software partitioning • high-speed logic implementation in FPGA fabric &
high-flexibility software code in Power PC
– IP core library to achieve basic robotic functions• pre-verified, reusable• satisfy the requirements for control, communication,
and onboard vision processing capability of miniature robots
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19City College of New York
FPGA-based Multiprocessor
O n-C hip Periphera l BU S (O PB)
PLBArbiter
Pro
cess
or
Lo
cal B
US
(P
LB
)
O PBArbiter
PLB to O PBBridge
PLB B lockR AM
InterfaceC ontro ler
PLB B lockR AM
InterfaceC ontro ler
IIC BusInterface
D iscrete C osineTransform
(2D D C T V2.0)
Fast FourierTransform(FFT V2.0)
PLBArbiter
PLB to O PBBridge
O n-C hip Periphera l BU S (O PB)O PB
Arbiter
IIC BusInterface
G PIO
SD R AMC ontro llerO PB
Tim er/C ounter
PLB B lockR AM
InterfaceC ontro ler
Pro
cess
or
Lo
cal B
US
(P
LB
)
D M AC ontro ller
D ual PortBR AM(V5.0)1A0
1A16
2A0
2A16
2D0
2D15
1D0
1D15
2O E
1W E 2W E
1O E
BinaryC ounter(V6.0)
CLK
ACLR
Q 0
Q 16
PowerPC405 Core
PowerPC405 Core
PW M
Q uadratureLogic
M otor
PowerAm plifier
Phase A
Phase B
PW MLogic
Color Cam eraM odule
SD A
SC L
Y0-Y7U V0-U V7
H R EFPC LK
VSYN C
16
17
8
8
Virtex-II ProFPGA
U AR TRF
M odule
Contro ller
Enc
oder
A/D
Sensors
Auto-ScanC ircuitry
C2I
O PBTim er/
C ounter
CAPT0 CAPT1
INT
D ual PortBR AM(V5.0)1A0
1A16
2A0
2A16
2D0
2D15
1D0
1D15
2O E
1W E 2W E
1O E
EncoderCounter
• A processor-centric architecture
• FPGA fabric is used for custom logic and interfaces.
• Single board FPGA-based multiprocessor for robotics applications
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20City College of New York
Recent Progress
• Logic design for motor control (PWM, encoder reading)
• Demonstration of virtual backbone concept for reliable server pooling
Virtex-II Pro ML300 Evaluation board
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21City College of New York
Thank you!