Robotics at CASE · •National Engineering Robotics Contest (NERC) •National Robosprint •Ayan...
Transcript of Robotics at CASE · •National Engineering Robotics Contest (NERC) •National Robosprint •Ayan...
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Robotics at CASE Mhequb Hayat
Department of ECE
Center for Advanced Studies in Engineering (CASE).
Islamabad, Pakistan.
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Introduction
• CASE
• CRG
• About Me
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Introduction
CASE:
Center for Advanced Studies in Engineering (CASE), Islamabad.
Affiliated with UET Taxila.
CRG:
CASE (undergraduate) Robotics Group.
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About Me
Alumni of:
• NUST College of EME, Rawalpindi (Mechatronics).
• LUMS, Lahore (Robotics).
Currently:
• Lecturer at Department of ECE, CASE Islamabad.
• Vice group chair, CRG.
• New start-up
“RoboTech Engg. (pvt) ltd”.
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History of CRG
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History
• Started in Fall 2008 by Mr. Mansoor Shaukat (Currently PhD Scholar at NUS Singapore)
• National Engineering Robotics Contest (NERC), 2009 held at EME
And won
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History
Ayan Rover (Shrimp design)
Highest climbing Shrimp rover
Best project award.
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History
Asia-pacific Broadcasting Union (ABU) Robocon 2010, Egypt.
Defeated India in Head-to-head match
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History
• Won NERC 2010, NERC 2011
• Won Robosprint 2012
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History
Qualified for ABU Robocon 2011 and 2012
And defeated Russia in 2012.
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Achievements Video
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Projects
• ABU Robocon
• National Engineering Robotics Contest (NERC)
• National Robosprint
• Ayan Rover
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Projects
• eSatRol • Intelligent control of dish antenna
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Projects
• IR-SAM (Infra-red Surface to Air Missile) Auto launcher
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Projects
• Remote Surveillance Security Application Capability of operation within 1KM wirelessly
Night-Vision device installed 2 degrees of freedom platform
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Features of Our Systems
• Mechanical System
• Electrical Systems
• Control Systems
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Mechanical System
Drive System
Heavy weight Picking
Stair climbing
Human operator
Pneumatics
Localization
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Mechanical Systems
Drive Systems: Tri-Lambda Used in
• Manual Robot Robocon 2011
• Robosprint 2012
• NERC 2011
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Mechanical Systems
Drive Systems: Mecanum Used in
• NERC 2010
• Robosprint 2012
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Mechanical Systems
Drive Systems: Crab (All wheel are driven and can steer also)
Autonomous Robots
in Robocon 2011, 2012
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Mechanical Systems
Localization: X-Y Encoders
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Mechanical Systems
Other Systems
• Stair Climbing
• Human Operator rides on the robot
• Pneumatics for Manipulation mechanism
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Mechanical Systems
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Electrical System
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Electrical Systems
Encoders: Quadrature 250 counts per rev.
From US Digital
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Electrical Systems
Motor Drivers: Sabertooth dual 25A motor driver
From Dimension Engineering
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Electrical Systems
Sensors: Sharp IR
Sonar
Flexi force
Color detection
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Control Systems
• PID Control Speed control of Robot, straight line movement, other
mechanisms
• Kalman Filter Fusion of Sensor data
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Competition Robotics
Speed Matters • CIM Motor from Andymark
Free Speed: 5310rpm
• Brushless DC Motors
Very High RPM
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Competition Robotics
• Light Weight Solutions
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Problems and Solutions
• Electrical Noise Issues Better wiring, Eliminating the effect of magnetic field
• Communication Noise System gets complex
Multi-controller are used
Communication between controllers
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Latest Experiments
• Solution to Communication Noise Reduce communication as much as possible: Parallelism
Options:
– Propeller Microcontroller (8-core Microcontroller), it can run 8 threads at a time
– Parallel modules on FPGA
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Other Problems
• Funds
• Knowledge
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Funds
• ABU Robocon project funds come from – Center for Advanced Studies in Engineering (CASE)
– Center for Advanced Research in Engineering (CARE)
• Not sufficient for doing good research
• All other student projects are self funded by students
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Entrepreneurship
• To generate revenue for these projects, we started entrepreneurial activities and consultancy
• We are registered as “RoboTech Engg. (pvt) ltd”
• Products
– DC Motor driver was designed and sold
– Breakout board for dsPIC 33F microcontroller
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Entrepreneurship
• Consultancy
– IR-SAM prototype was developed, now we get production orders
– Remote surveillance security application
– eSatRol prototype completed, we will also get production orders
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Knowledge
• We, here in Pakistan, Lacking in technology and latest knowledge
• Solution: Learning and Knowledge sharing
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Knowledge Sharing
• To learn and share knowledge, we started a new venture last year:
Robosprint: National Education Campaign – National Robotics Competition (rotation based) with three
novel ideas 1. A National Student Coordination Program (NSCP)
2. Special Robotics Seminars
3. National Board as Governing Body: Representatives from all major universities of Pakistan
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Knowledge Sharing
Rotation of event host:
• Robosprint 2012 was hosted by CASE
• Robosprint 2013 would be hosted by UCP Lahore
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Collaborations
• We are open for collaborations on
– ABU Robocon
– Robosprint
• National Board
• Seminars
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Conclusion
• Undergraduate Students: Strength of Pakistan
• Learning/Knowledge sharing
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Acknowledgments
• All Founding members of CRG
• All undergraduate students of CASE for forming a vibrant robotics group
• Organizers of WFAR3
• Dr. Abubakr: Great teacher and mentor, he is my inspiration.
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Thank you …
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