Submitted version of the thesis - Airlab, the Artificial Intelligence ...

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22 Chapter 3. Mechanical Construction and modifying elements in the future. We decided to use some design constraints, revising these according to our goals. The design is started with the choice of the chassis made of plexiglas. One advantage of using plexiglas, it is 43% lighter than aluminum [10]. Another advantage that is affecting our choice is the electrical resistance of the plexiglas, that will isolate any accidental short circuit. One of the major problems with plexiglas is the difficult processing of the material. However, it has to be processed only once, hence this is negligible. Figure 3.1: The design of robot using Google SketchUp The preliminary design has been created with Google SketchUp, allowing to define the dimensions of the robot and the arrangement of various elements shown in Figure 3.1. This model has been used to obtain a description of the dynamics of the system. The robot is 125 mm in diameter wide and 40 cm in height, meeting the specification to be contained in a footprint on the ground in order to move with agility in the home. The space between the two plates is around 6 cm, which allows us to mount sensors and any device that will be added in the future. The total weight of the structure is approximately 1.8 kg, including motors and batteries.
3.2. Motors 23 The initial design of the chassis was a bit different from the final configuration seen in Figure 3.1. Even though the shape of the components did not change, the position and orientation are changed in the final configuration. The motor holders initially were intended to be placed on the top of the bottom plexiglas layer. At the time when this decision was taken, we were not planning to place the mice boards, but only to put the batteries and the motor control boards. Later, with the decision of placing the mice boards in this layer, in order to get more space, we decided to put the motors to their final position. So this configuration increases the free space on the robot layers to put the components, and also increases the robot height from the ground that will result to better navigation. Another change has been made by placing the second plexiglas layer. Initially, we placed that layer using only three screws with each a height of 6 cm. The idea was using minimum screws, so that the final weight will be lighter and the plexiglas will be more resistant to damage. Later, when we placed the batteries, motor controller boards and the camera with its holder, the total weight was too much to be handled by the three screws. And additionally, we placed 6 more screws with the same height as before. These screws, allowed us to divide the total weight on the plate equally on all the screws and also enabled us to install springs and foams, to implement bumpers that protect the robot from any damage that could be caused by hits. 3.2 Motors The actuator is one of the key components in the robot. Among the possible actuation we decided to go with DC motors. Servo motors are not powerful enough to reach the maximum speed. Due to noise and control circuitry requirements, servos are less efficient than uncontrolled DC motors. The control circuitry typically drains 5-8mA on idle. Secondly, noise can draw more than triple current duringa holding position (not moving), and almost double current during rotation. Noise is often a major source of servo inefficiency and therefore they should be avoided. Brushless motors are more power efficient, have a significantly reduced electrical noise, and last much longer. However, they also have several disadvantages, such as higher price and the requirement for a special brushless motor driver. Since they are running at high speed we need to gear them down. This would also add
Page 1: POLITECNICO DI MILANO Corso di Laur
Page 5: To my family...
Page 9: Summary Aim of this project is the
Page 13 and 14: Contents Sommario I Summary III Tha
Page 15 and 16: List of Figures 2.1 The standard wh
Page 17 and 18: Chapter 1 Introduction 1.1 Goals Th
Page 19 and 20: 1.4. Thesis Structure 3 tailed desc
Page 21 and 22: Chapter 2 State of the Art Advances
Page 23 and 24: 2.1. Locomotion 7 provides low resi
Page 25 and 26: 2.1. Locomotion 9 Figure 2.4: Diffe
Page 27 and 28: 2.1. Locomotion 11 Omnidirectional
Page 29 and 30: 2.2. Motion Models 13 2.2 Motion Mo
Page 31 and 32: 2.4. Games and Interaction 15 a 2.5
Page 33 and 34: 2.4. Games and Interaction 17 We in
Page 35 and 36: 2.4. Games and Interaction 19 lot o
Page 37: Chapter 3 Mechanical Construction W
Page 41 and 42: 3.2. Motors 25 Figure 3.3: The calc
Page 43 and 44: 3.3. Wheels 27 target surface, maxi
Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
Page 47 and 48: 3.6. Batteries 31 itself also works
Page 49 and 50: 3.7. Hardware Architecture 33 In sh
Page 51 and 52: 3.7. Hardware Architecture 35 The s
Page 53 and 54: 3.7. Hardware Architecture 37 With
Page 55 and 56: Chapter 4 Control The motion mechan
Page 57 and 58: 4.1. Wheel configuration 41 Figure
Page 59 and 60: 4.2. Matlab Script 43 This is case
Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66: 4.3. PWM Control 49 mentioned previ
Page 67 and 68: Chapter 5 Vision The vision system
Page 69 and 70: 5.1. Camera Calibration 53 the prin
Page 71 and 72: 5.1. Camera Calibration 55 Figure 5
Page 73 and 74: 5.1. Camera Calibration 57 Later, i
Page 75 and 76: 5.2. Color Definition 59 warmer (ye
Page 77 and 78: 5.2. Color Definition 61 Anotheraut
Page 79 and 80: 5.2. Color Definition 63 9000 8000
Page 81 and 82: 5.3. Tracking 65 any color values.
Page 83 and 84: Chapter 6 Game The robot will be us
Page 85 and 86: • Initialize sensors • Initiali
Page 87 and 88: If the camera is set to SERVO MID,
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Chapter 7 Conclusions and Future Wo
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ior, which will be useful in the re
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Bibliography [1] Battle bots-http:/
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BIBLIOGRAPHY 79 [25] Han et al. A n
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Appendix A Documentation of the pro
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Figure A.2: The flow diagram of the
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Appendix B Documentation of the pro
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B.1. Microprocessor Code 87 /* Conf
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B.1. Microprocessor Code 89 #ifdef
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B.1. Microprocessor Code 91 Set_Spe
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B.1. Microprocessor Code 93 TIM_DeI
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B.1. Microprocessor Code 95 /* Expo
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B.1. Microprocessor Code 97 RGBCube
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B.1. Microprocessor Code 99 /* Incl
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B.1. Microprocessor Code 101 #endif
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B.1. Microprocessor Code 103 } void
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B.1. Microprocessor Code 105 GPIO_I
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B.1. Microprocessor Code 107 /* Sta
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B.1. Microprocessor Code 109 } Inve
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B.1. Microprocessor Code 111 #inclu
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B.1. Microprocessor Code 113 /* * M
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B.1. Microprocessor Code 115 b[1] =
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B.1. Microprocessor Code 117 } * (B
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B.1. Microprocessor Code 119 #defin
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B.2. Color Histogram Calculator 121
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B.3. Object’s Position Calculator
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B.3. Object’s Position Calculator
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B.4. Motion Simulator 127 0 0 0 0 0
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B.4. Motion Simulator 129 if (plot
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B.4. Motion Simulator 131 fill (m a
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B.4. Motion Simulator 133 end text(
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Appendix C User Manual This documen
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C.1. Tool-chain Software 137 Figure
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C.2. Setting up the environment (Qt
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C.3. Main Software - Game software
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Appendix D Datasheet The pin mappin
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Figure D.2: The schematics for the
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