Musical Robot Companion

Musical Robot CompanionCritical Design ReviewCharell Codner, Rollan Buddy Haller, Hazel Madolid and My-Linh TruongGroup 17

*Sponsored by UCF Center for Entrepreneurship & Innovation Hi everyone, my name is Hazel Madolid [introduce group members].We are group 17 and our project is the Musical Robot Companion.

1Project DescriptionStereo systems are too hefty to haul around and MP3 players simply do not have the personality. The Musical Robot Companion (MRC) is a creative expansion on these developed technologies. As suggested by its name, the MRC has the capability of playing music while following the user around.

The Musical Robot Companion, or abbreviated MRC, is meant to have more personality than traditional stereo systems. It grants the user the freedom to move around and perform hands-on tasks (such as barbequeing or gardening) while enjoying their music. The MRC is designed to have the appearance of a turtle with the microphone, speakers and displays acting as various body components.

2Key Design ObjectivesThe Key Design Objectives include:Following the user using IR and avoiding obstacles with Ultrasonic sensors.Play music stored on SD through the mp3 decoder or stream from FM radio.Voice-activated: The user can command robot to follow, play songs, and switch tracks.The two LCDs will display track information (such as title and artist) And the playlist and menus for user configuration.Since several of the components used are pretty heavy, we decided a turtle would be a fitting animal to model. 3Block Diagram

For organizational purposes the MRC is composed of four main subsystems: Voice-Control Subsystem, Musical Subsystem, Mobility Subsystem, and the General System. The microphone, voice-activated chip, and voice-control functions (within the Master MC) form the Voice-Control Subsystem and are colored purple. The Musical Subsystem, colored blue, contains the external memory input, MP3 decoder, FM radio, speakers, display microcontroller, and display LCDs.The Mobility Subsystem in red consists of the ultrasound and infrared sensors, tracking functions (within the Master MC), motors, and wheels. Finally, the General System, colored green, includes the main board, master microcontroller, exterior and power considerations.

4Voice - Control Subsystem5Goals of Voice-Control SubsystemHigh accuracy -> Voice control is a key feature in the MRCs designAdequate vocabulary size (9 command words + 1 passphrase)Speaker independenceContinuous listeningEasy to interface and programCheapSpeech Recognition ChipsTraining the HM2007We will not be using the demo board that can be purchased from the manufacturer, instead we will be designing our ownThe user menu on the MRCs display will have an option to train the command words.The output from the display to the microcontroller will be relative to the selected word to train, and the microcontroller will output the corresponding bit pattern to the HM2007 chipInterfacing circuit design will be similar to that described in the manualEach command word will be trained to four separate memory locations

Communication Bit Patterns

Voice Command Recognition Algorithm

10Musical Subsystem

SPEAKERS11SpeakersSpeakers need to be loud enough to hearHave excellent frequency responseDurable enough for movement and other activitiesNot overly large3 Types: Subwoofer, Mid-range, and Tweeters12Speakers: SubwooferSpeaker Specifications of the LAT-250Impedance4Max Power Input100 WFrequency Range20-160 HzSound Pressure Level @ 1 W91 dBWattage Designed For10 WFrequency Range Designed For20 Hz 160 Hz

13Speakers: MidrangeSpeaker Specifications of the Eminence Alpha-6Impedance4Max Power Input100wFrequency Range150 Hz - 6 kHzSound Pressure Level @ 1 W91 dBWattage Designed For7.5 WFrequency Range Designed For160 Hz 6 kHz

14Speakers: TweetersSpeaker Specifications of the SB25STCImpedance4 Max Power Input120 WFrequency Range3 kHz 22 kHzSound Pressure Level @ 1 W91 dBWattage Designed For7.5 WFrequency Range Designed For6 kHz 22 kHz

15Amplification and FilteringA special topology was used, called the CGIC circuit.Allows for superior sensitivity to component values.Functionally tunable.

Amplification and FilteringNeeded a GBP that was above 100 kHz.Also needed to be able to handle a large voltage swing.Ideally multiple op-amps on a single board.The LT1058CN was chosen.

Specifications of the LT1058GBP5 MhzMax Voltage+/- 20VMax Output Current2.8 mANumber of Amplifiers4Amplification and FilteringFinal output stage required special powerful op-amp.Little amplification was used to allow for a lower GBP.The OPA541 was chosen.Final output power determined by MP3 and FM chips.Specifications of the OPA541GBP1 MhzMax Voltage+/- 60VMax Output Current5 ANumber of Amplifiers1

Amplification and FilteringNeeded to pick special cross-over points for speakers.Then needed to use the filtering circuit to create these cross over-points.In the end designed for 120 dB 6th order filters.

Musical Subsystem

MP3 DECODER20Mp3 DecoderNeeded to be controlled by I2C.Needed to be able to read SD cards.Ideally as little programming as possible.Ability to output analog signals ideal.

21Musical Subsystem

FM RADIO CHIPSET22FM Radio ChipRadio is a standard in portable music player industryAdds functionality and marketabilityOriginal design included FM and AM radioInitial research showed most joint AM/FM radio chips broadcasted in mono based only Difficult to find joint AM/FM radio chip in stereoDecided to stream FM only to emphasize speakers dynamic rangeOptional: build AM radio input with external circuitryAs you all know, the radio feature is a standard in the portable music player industry. This is because it adds functionality and marketability. Our original design was to include both the FM and AM radio inputs, however after researching we realized that most joint AM/FM radio chipsets are designed to broadcast in mono only. Since the MRC is designed to have an excellent speaker system, we decided to focus on streaming FM only to emphasize the dynamic range of the speakers. We can always include an AM radio input by building one with external circuitry.23SI Lab 336-1740-NDI2C interface controlOutput analog signalsInternal DSPTuning controlled digitally; ease of useAntenna range needs to be 87-108 MHz based on US FM Radio standards

We chose the Sanyo LV-24-2-30-LP-A because it has I^2C protocol, it outputs in analog signals and it has an internal DSP. Additionally, the tuning is controlled digitally, which adds to the ease of use. The antenna range for this needs to be between 87-108 because that is the standard range for US FM radio stations. As you can see here, the chip is very tiny and will be fun to surface mount on to the board.24FM Radio Schematic

Here is the schematic for the FM chip, which shows the communication between FM chip and the speakers, antenna and the main microcontroller.25Musical Subsystem

DISPLAY26Display SpecificationsSPI interfaceLarge viewing screenText and graphic displayRGB to enhance viewingDisplay will be viewed in sunlight & ambient lightLooked at LCDs and OLEDsLCD was more cost effectiveReadability PolarizationReflectiveLow power draw, no backlight, no SPITransmissivehigh color contrast, best in ambient light; RGB & SPI readily availableTransflectiveCombo of Reflective & Transmissive; ideal in both bright & low light 27Color Graphic Display

Specifications for Solomon SSD2119 CFAF320240F-T-TSDisplay TypeRGB graphicsInterface SPI Polarizer Transmissive View Direction 12:00 Backlight Color White Input Voltage 1.4V to 3.6 V Current Drain Per Pin 25 mA After continual research, we realized that the readily available displays that fulfilled our specifications were not cost effective. After heavy debating, we decided to implement 2 displays one for the graphics and one for text such as song titles, etc. The Solomon display is 28Monochrome Text Display

Specifications for CFA632-YFB-KSDisplay TypeMonochromeInterfaceSPIPolarizerTransflectiveView Direction6:00 (rotate 180)Backlight ColorYellow-GreenSupply Voltage4.75 V to 5.25 VOverall Current (100% backlight)380 mASchematic for the Displays

Here is the schematic for the displays, which shows the communication of them with the display microcontroller. There is also a voltage converter to account for the offset difference.30Mobility SubsystemNOTE: needs software flowchart for tracking functions/ collision avoidance. 31Goals of Tracking SubsystemActually the composition of two systems: user tracking and obstacle avoidanceDetect and track the user in order to follow themDetect and avoid objects it encounters while in motion for autonomous movementFunction well both indoors and outdoorsCost effectiveSmallLow powerSensorsUser Tracking: Combination of a user-carried IR beacon and phototransistorsOED-EL-1L2 (LED)Peak wavelength is 940 nmRadiant intensity is 60 mW/SRHalf angle is 30 degrees (60 degree beam angle)Lens finish is Water clearLTR-301 (Sensor)High sensitivityPeak wavelength 940 nmViewing angle is 20 degreesOperating voltage is 5 VLens color is clear transparentObstacle Avoidance: Ultrasonic sensorsURM V3.2 Ultrasonic SensorDetection range of 4 cm 500 cm (5 m)Interface RS232 (TTL), PWNLightweight (30 g)5 V power1 cm resolutionOperating modes: Serial (PWM) passive control mode, Autonomous mode, On/Off mode33Transmitter BeaconMultiple LEDs and a lens will be used to help increase the beams radiant intensityLens will also help to focus the light beam and counter some of the outside noise from other light sources.Pulsing the circuit has other benefits in addition to filtering; it increases the instantaneous intensity of the LED and may also help improve battery life.

Beacon SensorInfrared sensors will collect readings on whether or not they can detect the beacon carried by the userThe distance gap allowed between the MRC and the user in following mode may range from 2 feet to 7 feet so therefore the beacon should be able to transmit and be received at a distance of 9 feet (3 meters)Readings will be used to determined the users location relative the a virtual map

Sensor Placement (Virtual Map)

Obstacle Avoidance SubsystemSensors will be used in autonomous modeThe sensors will periodically take a reading and compare it with the pre-set threshold value. The threshold value will be set to 153 centimeters (2.54 cm = 1 in; 152.4 cm = 60 in)Readings that are taken will compared to the threshold valueReading is less than or equal to the threshold valueThe sensor will output that it has detected an object and the MRC should take necessary actions to avoid it.The goal is to detect objects and not have the MRC come within 61cm (about 2 feet) of the detected objectsObjects within the threshold detection range but outside of the avoidance range will serve as a caution but not cause the MRC to stop.This data will be useful when decide whether or not the MRC can turn to try to maneuver around and objectObject detection should be at least 180 degrees in front of the MRCSensor Placement

Placement Design for the Ultrasonic Sensors38General System ComponentsMICROCONTROLLERS39MicrocontrollersNeeded to be able to handle processes.Variety of I/O ports.Fast enough to handle display.Large memory ideal.PIC 18F87J10 chosen.

We are using 2 PIC 18F87J10 mcs. One is the Master MC that includes voice-control and tracking functions.The other controls the 2 LCD displays.The microcontrollers are programmed in C using MP Lab IDE and the C18 compiler.

Our original design was for 4 MCs (1 for each subsystem).But then we realized that we dont need that many.The Master Microcontrollers will communicate with the mp3 decoder and FM chipset via I2C .The master mc will communicate with the display MC using SPI. 40Microcontrollers SpecsPIC 18F87J10 SpecificationsOperating Voltage3.3 VI/O Voltage0 V 5 VClock Speed40 MHzA/D resolution10 bits or 1024 divisions over input voltage range.Sample Rate of A/DAt worst 3333 samples/sec.Number of I/O ports66Program Memory (Flash)128 kBProgram RAM onboard3936 bytesExternal Memory BusYesProgramming InterfaceICSPThe reason we chose the PIC 18s is because they operate at 3.3 volts. The A/D is 10bits resolution for the sensors, a lot of i/o ports , and plenty of memory. 41Software: Master MC

This is the activity diagram for our Master MC.The process is triggered when the MRC is turned on .The Master is continually checking the state of all the slave devices. If a slave device has a command, the Master will take that command and translate it to a format another subsystem would understand..Then the master will forward that command to that subsystem.

//and it enters initialization by activating the devices. It will then command the smaller LCD to display a welcome message.The larger LCD will display the main menu for user configuration.The Master MC then changes the state of the displaysAnd then it enters the Waiting for Command process. In this process the Master MC is continually checking the state of all the slave devices. If a device needs help from the Master MC then the Master MC will enter the executing commands process.The master mc will take the command from the device and translate it to a command understandable by another subsystem.The master MC will then check the status of that subsystem and pass the translated command.The states of all devices involved are changed and the Master MC continues with checking all the other devices.42Software: Display MC

This is our class diagram for all the functions within the Display MC. We have a general display function for refreshing the screen.And we have several specific functions for the playlist and menus. 43Menus

This is a picture of our planned menu tree.The user can select an option from the main menu and that will take them to the sub menu.Options are chosen either on the screen for planned touch-screen capabilities or through buttons on the directional pad. 44General System ComponentsPOWER SUPPLY45Power SupplyNeeded to be able to supply 24v, 5v, and 3.3v.High power output for the speakers and motors.Be powered by a 12v battery for efficiency.Ideally, tolerant for voltage surge from motor start-up.Be efficient as possible.High Frequency switching for noise considerations.Battery needed to have high capacity, high power draw.Used Power Supply Workbench by National Semiconductor.

46Power Supply: BatteryCar Battery SpecificationsVoltage12 VMax Discharge RateOver 100 ACapacity~720 watt-hrsMin. Run Time4 hrs

47Power Supply: 24vSpecifications of 24 V RailingsInput Voltage Min10.5 VInput Voltage Max15 VOutput Voltage24 VOutput Current Max (Steady)3.5 AOutput Power Max (Steady)84 WOutput Surge Current10.3 AOutput Power Max (Surge)247 WAverage Efficiency94.3%

48Power Supply: 5vSpecifications of 5 V RailingInput Voltage Min10.5 VInput Voltage Max15 VOutput Voltage5 VOutput Current Max (Steady)4 AOutput Power Max (Steady)20 WOutput Surge Current5.92 AOutput Power Max (Surge)29.6WAverage Efficiency93.4%

49Power Supply: 3.3vSpecifications of 3.3 V RailingInput Voltage Min10.5 VInput Voltage Max15 VOutput Voltage3.3 VOutput Current Max (Steady)4 AOutput Power Max (Steady)13.2 WOutput Surge Current10.7 AOutput Power Max (Surge)35.3 WAverage Efficiency94.4%

50General System ComponentsMOTORS/WHEELS51Motors/WheelsNeeded to be able to propel the MRC.Easy to control.Preferably DC powered.Ideally be able to keep up with a human walking.Tank steering will be used.52MotorsMotor SpecificationsMax Load250 lbsPower Input60 WOperating Voltage24 VMax Speed4 MPH

53Wheels

Rotation Rate = 131 RPMTorque = 33.33 ft * lbsWheel diameter = 8 in

54General System ComponentsEXTERIOR55ExteriorThe MRC will have a wood frame.The MRC will have aluminum or another similarly easy to work with material.It will have two arms that swing out to allow for stereo channel seperation.Overall, similar in size to a wagon.56Testing57Hardware TestingEach system will have it own testing procedure.First, electrical connections and power on will be tested.Next, operation will be checked.Finally, functional tuning will be done.

Functional Tuning Procedure ExampleLow-Pass FiltersInputPart AdjustedValue ChangedMeasured ValueNeeded MeasurementSin(0t)R40|H(0)|2Sin(0t)R8QpPhase of Vin Vout-9058Software TestingModified Top-Down ApproachTop level: The main microcontroller will be tested firstFunctionality of communication connections using the SPI and I2C data buses must be verifiedMiddle level: The display microcontroller, MP3 decoder, and FM radio will be interfaced and tested (each done separately)The functionality of each component will be verifiedBottom level: The voice chip, microphone, sensors, speakers, and display screens will be tested (each done separately)Voice SubsystemFirst it must be verified that it can receive training mode instructionsThen the voice control algorithms can be tested after the chip has been trainedTracking SubsystemThe responses generated by the input from signaling the IR sensors with the beacon will be analyzed separately from the responses generated by the input from signaling the ultrasonic sensors.Once both sensor algorithms have been tested and function correctly separately they will be tested again, working together.

Finally all components will be connected and tested together

59Administrative Content60SponsorshipSponsorship provided by the UCF Center for Entrepreneurship and Innovation (CEI)Awarded $2000 Must compete at the Innovation Competition, hosted by CEI, on March 26, 201061Budget BreakdownPART NAMEQUANTITYPRICE (EA)TOTAL PRICESHIPPINGTAXcar battery1$0.00$0.00$0.00$0.00power chair motors1$0.00$0.00$0.00$0.00power chair wheels4$0.00$0.00$0.00$0.00Ammonium Persulfate Etchant Crystals 2.2LBS 2$21.00$42.00$10.34$0.00LCD Display (Monochrome)1$37.00$37.00$6.00$0.00LCD Display (Color)1$53.72$53.72$6.00$0.00standard ZIF socket1$4.18$4.18$0.00$0.00PIC18F87J10 Microcontroller4$4.46$17.84$0.00$0.00Copper Board8$6.00$48.00$0.00$0.00Etching Supplies Kit1$42.82$42.82$0.00$0.00Relay DPDT3$8.86$26.58$0.00$0.00Relay SPST3$1.13$3.39$0.00$0.00Relay small scale switch for choosing mp3 decoder or FM chpset3$3.48$10.44$0.00$0.00Opamps: TLC08512$8.40$100.80$0.00$0.00Opamps: OPA5416$22.20$133.20$7.03$15.37Power Circuit: LM34786$2.62$15.72$0.00$0.00Power Circuit: LM51182$5.59$11.18$0.00$0.00Power Circuit: LM27452$3.10$6.20$0.00$0.00Power Circuit: LM31512$5.45$10.90$10.45$12.83PART NAMEQUANTITYPRICE (EA)TOTAL PRICESHIPPINGTAXCapacitors, Resistors, and Inductors--$150.00Microphone1$4.03$4.03MP3 Decoder 1$14.16$14.16FM Radio chipset1$20.00$20.00555 Timer2$0.48$0.96IR Transmitter Diode(LED for Beacon)4$0.27$1.08$0.00$0.00IR Reciever Transistor(Sensor for Beacon)6$0.23$1.38$0.00$0.00Colored Printing & Binding2$37.01$74.02$0.00$4.81Voice-activation chip2$25.00$50.00Subwoofer1$25.00$25.00Eminence ALPHA-6A, 6" Midrange2$39.99$79.98Tweeters2$25.88$51.76Pic Kit 1$69.99$69.99SD 1 GB Memory Card1$6.65$6.65DFRobot URM V3.2Ultrasonic Sensor3$20.00$60.00laser printer & paper1$100.00$100.00extererior$300.00$1,572.98Shipping Total$39.82Tax Total$33.01Overall Total$1,645.8162Project Milestone ChartTASKJANFEBMARAPRweek341234123451234Parts AcquisitionBuild PCBsSoftware Build: Master MCSoftware Build: Voice ControlSoftware Build: TrackingSoftware Build: DisplayExterior Build TestingPresentationsFinal DocumentationUCF CEI competitionFinal PresentationCDR63Project Status6465