TE 417
Robotics
Project
Lab
Notes
December 8
2014
Final Robotics Project for STEM Education Robotics Class
Rango!
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 1
Team: Eileen Lastrina, Jim Ryan
Introducing: Rudy, our “Rudebot,” –Rolling Ubiquitous Display Engine for Binary-Organic
Transliteration
What is It? Rudy is supposed to be a telepresence robot which will run remotely in order that the
person controlling it over wifi will have a “presence” in another location where the robot is
situated.
What problem will it solve? The telepresence robot can be used in many circumstances where a
person cannot be physically present in an environment that has access to wireless internet and a
relatively smooth travel surface without stairs. This goes for many environments from business to
schools.
A great use for this robot in an educational setting could be to help a student participate in school
during an extended leave of absence. The robot will be controlled by the absent student and will be
able to roam the hallways as well as sit in classes. It will enable students to still be present and hear
classroom lectures as well as communicate with their friends.
It can also be used as a patrolling telepresence hall monitor could help to keep schools safe and
prevent students from misbehaving, while still engaging students in conversation, such as asking for
a hallway pass.
Another exciting use for this technology could be for a foreign exchange program between different
schools that are very far away from each other.
The capability for a person to “travel” around his home, garden or indeed anywhere that is
accessible to a robot, can mean the world to a person who is “shut in,” for whatever reason, such as
physical impairment. It can also be a comfort to those who just want to “visit” with their families
while at work. The possibilities are endless.
What problems will it create? Rudy may not be completed in time for this semester’s culmination
due to the advanced programming involved to get the robot to connect to the WIFI. In which case,
it may not actually be a “telepresence” robot, but rather a “remote controlled” robot with visual
interaction capabilities.
A lack of arms will be a consistent problem with any telepresence robot as it will have to rely on
others to open doors or help it out of jams. It will also be vulnerable to the ill will of any pranksters
that may think if funny to put the robot in compromising positions…such as laying it down, covering
it, turning it off or myriad of other “pranks.”
10/16/14
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 2
Design
Proces
s
Lab #1 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Brainstorm Individual Project Ideas
No clue what to make. Listened to others’
ideas.
Looked up different robot DIY projects on
YouTube. Got very sidetracked YouTube is
not the best for brainstorming.
Begin research
Found a “Scitos” robot online. (Fig. 1) Like
the potential for application-thinking of a
“Hall Monitor” for schools. Print for future
reference.
Decided upon a robotic lawn mower
project. Looked up different robotic lawn
mower systems available today. (Fig. 1a)
Continue researching for ideas
Start to research “spider” bots to continue
with theme of previous projects.
Most robotic mowers randomly bounce
around the perimeter of a lawn. Seems like
a waste of energy and not very efficient.
This autonomous robot system
is for interaction and guidance.
It communicates with people
autonomously, and has ability
to display videos or
presentations with a touch
screen display. It stands about
5 feet tall and weighs 165
pounds.
The Husqvarna mower randomly traverses the lawn
rather than cutting in a straight line. It can mow in the
dark, on rainy days, and on 45% slopes. The Automower
finds its way to a designated charging station.
Fig. 2a Husqvarna Automower
Figure 1 Scitos A5
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 3
10/21/14
Lab #2 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Robot mower research…
Seems like sensors or GPS could be
utilized to help mower cut the lawn in less
passes.
Research various sensor technologies
Induction sensors are used in
manufacturing, they give you very accurate
readings. Can be used to follow a buried
wire in the ground. Ultrasonic sensors can
be used to determine the range of
obstacles in the mower’s path.
Further research on sensor technologies
Found LIDAR controlled autonomous
vehicle developed at Stanford University
(Fig. 2a)
Research different existing autonomous
mowing devices
Still can’t find any that are capable of
planning an efficient route to cut the grass
Fig. 2 Spider Bot Hexapod
LIDAR: a sensing technology that measures
distance by illuminating a target with a
laser and analyzing the reflected light.
Very expensive technology
Stanford used a VW Tourag because most
of its control systems were already
utilizing drive- by-wire tech
1
st
team to successfully complete the
DARPA Grand Challenge
Also uses gyroscopes, GPS,
accelerometers, and odometers to aid in
determining positioning information
Fig 3 Miimo and Asimo made by Honda
Miimo can supposedly follow a straight
path for quicker cutting, it can also
randomly bounce around in the yard until
it is cut.
Uses bump sensors to find obstacles and
decide when to turn around.
There must be other sensing technologies
incorporated in Miimo’s design that aren’t
public knowledge.
How can it decide which direction to turn
in?
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 4
10/23/14
Lab #3 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Try to source an inductive sensor for my
Robot mower
The lead time on ordering specialty parts
for my project will probably result in a loss
of time to work on and complete my
project.
Plan navigation system for my robot mower
Probably set up a series of simple bumper
switches on a VEX platform.
Eileen Finds
Come across “Rudebot,” –Rolling
Ubiquitous Display Engine for Binary-
Organic Transliteration See Fig 4
Brainstorm applications “Rudy”
Needed a good application to use. Thinking
about potential for roaming hallways
without being present, yet still being able to
interact with students.
Get the OK from Prof. Sianez
It’s a go!
See if I can uses an existing platform with
motors/wheels already assembled to save
money/time.
Dr. Sianez approves
Sianez suggests Eileen and Jim partner up
for expediting completion of our
telepresence robot
Find a student who is as excited about
project and in the process of researching
still—Matched by Sr. Sianez. Jim Ryan
jumps right in with how he can help.
Fig. 4 Rudebot
The more we read about “Rudy” the more we
wanted to attempt building it.
Features
Fully mobile wifi robot/cyborg.
Roughly 15 hours of mobility per charge.
5-speed available through keyboard
control
Tablet-brand-agnostic mounting system.
Two independent 3A motors for navigating
even the toughest of office terrain.
Optional wireless PS3 remote integration
for fine-grained control
Optional speakers for increased volume.
This type of telepresence technology has been
explored quite a bit recently and can purchased for
between $2,000-$15,000 depending on the model
you're looking for. With the open source software I
can get the same results for a lot less. You can get
something like this built for under $400 (which is
what we spent), but with some creative
scavenging and even substitution of certain
components, you can knock it down even further.
Tablet not included.
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 5
10/28/14
Lab #4 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Get list of materials
We need to purchase an Arduino Uno, A
wifi shield, a motor shield and a PS3
controller. Fig. 5.
Research cost/availability of items.
Print price lists and online stores with items
we need for Val to purchase out of our
Student Activity accounts. Total cost
approximately $160. Rest of tools/materials
we have!
Fig. 5. Arduino Tools/Materials needed to
purchase
Tools:
Drill
Various Drill and Screwdriver Bits
Scroll/Jig/Hand/Table Saw
Screwdriver
Hammer
Square
Pencil
Vernier Caliper
Wire Strippers
Soldering Iron
Materials:
12"x14"x1/2" plywood or other chassis material
(metal/plexiglass)
Arduino UNO (minimum for digital I/O pin
requirements)
2x Pololu 67:1 37Dx54L gear motors - 2x Pololu
37D mounting brackets -
Pololu dual MC33926 motor driver shield for
Arduino -
2x 6" lawnmower wheels (Home Depot)
2x Caster wheels of 2"-2.5" max height (Home
depot)
Assorted 22 gauge solid core wires
4mm standoffs
4mm screws for standoffs
Toggle switch for power
12v SLA 7.2Ah battery -
12V SLA MasterCraft battery charger (Candian
Tire)
Hole punched copper strapping
Super glue
1" finishing nails
#8-1/2" or #6-1/2" wood screws
iPad
PS3 Controller
Rudy Application? Trick of Treat!
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 6
10/30/14
Lab #5 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
While awaiting the “brain” we see what
we’ve got with base assembly.
Assembly was able to be fired up with a
VEX controller and 12V Battery which we
mount to top of chassis. Motor cables are
elongated to reach from bottom to top of
chassis. However we notice that the chains
driving the wheels are very loose and
sloppy.
Brainstorm ideas for tightening existing
chains.
Fabricate “roller” guides with standoffs to
tension chains. Utilized drill press and
Bridgeport.
Brainstorm ideas for standoff with tablet
holder
Jim fabricates a flange to hold an
approximately 2"X3’ pipe and welds
together. We attach to base. See Fig. 6.
Also find a telescoping insert for pipe
(Vacuum cleaner handle) to adjust height
of robot
Attach Locking tablet mount donated by
Cromwell Radio Shack
Tablet Mount holds tablets of various sizes
and comes with a tool for locking in. See
Fig 7.
Fig. 6. Stand-Assembly, Battery Mount, Cable
extensions
Fig 7. Tablet Mount with Telescoping stand-off
11/4/14
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 7
Lab #6 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
We see a University Presentation on
Robotics at CCSU
No time to work on Rudy
11/6/14
Lab #7 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Eileen is absent due to broken leg. Jim
fires up robot with VEX controller to see
how it runs with added hardware and chain
tensioners
Runs rough. Tires have a lot of grip on
carpet causing jerky movement
11/11/14
Lab #8 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
No Class due to TEECA field trip
Arduino WIFI Board comes in. Still no Uno
board so Eileen picks one up at Radio
Shack for Thursday class.
11/13/14
Lab #9 Start: 4:30 P.M. End: 8:30 P.M.
Task
Reflection
Download Arduino software for Uno board.
Downloaded to Lab computer but still not
able to access board. Find out computer
needs driver with admin installation. Will
bring laptop next meeting.
Try SKYPE communication between robot
iPad and iPhone
Tried to fire up VEX controller, but notice it
missing from our kit. Spend the rest of the
night trying to get other Cortex
processors/remotes to link. No luck. Jim
stays late.
Upgrade Firmware for all CCSU VEX
Cortexes.
None are working after update.
11/18/14
Lab #10 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Hook Arduino assembly to laptop with
installed Arduino software
Able to program Uno board to do some
basic commands
Add wires to motor driver shield to bypass
Soldered and modified connections per
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 8
pins that conflict on Uno WIFI shield
plans. See Fig 8. Still not able to see WIFI
board.
Research Arduino WIFI information and
discover it also needs software and drivers
installed.
Links for software not working so we
needed to go into DOS for more in depth
commands. Get some of them to work, not
all. Worried about time constraints, we
realize we need to get the robot at least
working with the VEX controller. Autonomy
may have to be via VEX hardware.
Again try to get any leftover VEX
controller/remotes to link. Troubleshoot.
Again faced with firmware upgrade
problem. Fig. 9.
Fig. 8. Motor Drive Sheild Wire Bypass
Fig 9. Troubleshooting Faulty VEX
Cortex/Controllers
11/20/14
Lab #11 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Continue to troubleshoot VEX Cortex
problem
Hoping to get Rudy working again in order
to test SKYPE connection while walking
behind robot. Unable to link hardware
Try a known good processor/remote from
another team’s robot that was not
upgraded to new firmware
The links work. We hook up to our robot
and again have power to our motors. Proof
that the firmware upgrade did not go well.
Begin research on any problems caused by
firmware online.
Some issues were found online, but not as
many as we expected, nor did they have
our exact issue which was that NO VEX
links worked after upgrade.
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 9
11/25/14
Lab #12 Start: 4:30 P.M. End: 9:00 P.M.
Task
Reflection
Class time spent discussing John Wooden
Book, Wooden on Leadership
Little Rudy Time.
Discuss Clothing Ideas for Rudy
We found a TEECA 2014 size small Tee
shirt. Adorbs. Reminder to bring a hangar
to next class.
Jim leaves. Eileen researches VEX
firmware problem during next class
Prints out steps to upgrade cortex and
remotes. REMOTES TOO. Apparently a
detail we forgot previously.
Update VEX remote
Remote updated and linked successfully.
Attach VEX processor to Rudy and fire up
Rudy is in business again, however herky-
jerky. Will have to decide if we can either
slow it down some way or configure tires in
order that they are less “grippy.” Glad to be
back where we started with power to
motors.
12/2/14
Lab #13 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Covered “grippy” tires with tape
Packing tape peeled right off, used
electrical. Rudy drives much smoother on
carpet
Tried putting 20 pound weights on base to
stabilize
Caused “bucking” --removed
Fastened VEX cortex to base with nails.
Held wires in place.
Prevents parts from falling off base Fig. 10
Dr. Sianez procured a fancy scuba suit
hangar for tee shirt
We taped it to extending pipe.
Attached iPad and connected to SKYPE
Rudy went for virgin mission into hallway
unescorted. He was a hit.
Built a PVC protected “box” around base.
Looks safer and adds a little weight to base
for stability. Fig. 11.
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 10
Fig.10. Fasten VEX Cortex
Fig 11. PVC Bumper
12/4/14
Lab #14 Start: 4:30 P.M. End: 6:45 P.M.
Task
Reflection
Covered PVC Frame with reflective mylar.
Sealed up the working parts from view
Made a cap for the chassis out of heavy
plastic sheeting
Got to use the CNC router to cut the plastic
and fillet the corners.
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 11
Developed a persona for our robot
Spent a long time looking through different
ideas to give robot a more friendly and
finished look. Possibly a STEM recruiter!
Came across Rango, the animated movie
character. Fig. 12.
Fig. 12 Rango the Chameleon
Fig. 13 Finished Rango Bot
Eileen spends time out of class coding
Arduino wifi shield Fig. 14.
It would be easier to work together on the
Arduino programming if we had
administrator access to CCSU computers
Fig. 14 Wifi Shield Circuit Diagram
Fig. 15 Arduino Wifi Board
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 12
Fig. 16 Polulu Motor Shield Circuit Diagram
Fig. 17 Polulu Motor Shield
Fig. 18 Arduino UNO Rev 3 Diagram
Fig. 19 Arduino UNO Board
Functional Issues Encountered
We built our telepresence robot on a previous student's platform. It was made of a 4-
wheel chain driven skid-steer design. We improved upon the design by adding adjustable
chain tension idler pulleys instead of the thermoplastic ones originally installed on the
base. The original tensioners weren't allowing the chain to freely slide through them and
were adding unnecessary friction.
Added a post that bolted down with a square flange salvaged from a broken outdoor
umbrella. This Post receives a universal tablet mount that will incorporate Skype or
similar video chat software program. to control the movement of the robot we had
originally planned to use an Arduino UNO board paired with a wifi shield and a Polulu
motor shield.
We encountered some difficulties in programming the wireless functionality of the wifi
shield. The C++ programming of the shield could not be done with the university's
TE 417 Robotics Project Lab Notes
2014
Eileen Lastrina and Jim Ryan Page 13
computers and the drivers for the wifi shield required administrator access which we
couldn't get.
After spending 3 hours attempting to use the Arduino platform we decided instead to
control the movement of our robot's motors with the VEX equipment that was Already
available to us. VEX threw us another curveball because the firmware had recently been
updated and we no longer had access to the older version. The new firmware wasn't
allowing the remote control to communicate with the Cortex microcontroller, we are still
waiting for this problem to be worked out.
Eileen worked on the VEX issue with Dr. Sianez during the next class and figured out the
VEX controllers needed to be updated with the cortex.
It's really difficult to get the Arduino Wifi board to upload programming because it's not a
fully developed product yet.
Overview of Activities involved in the creation of Rango
Identify what it was we wanted to create
Investigate what we had available to us in terms of time and materials and budget
Test the operation of an already built chassis
Design an alternative method of tensioning the driven chains
fabricate an adjustable chain tensioning system
design a mount for our Skype ready tablet
order materials for the control of our robot
locate materials and fabricate a mount for our tablet
install mount and tablet on robot chassis
assemble Arduino Uno, wifi shield, and Polulu motor shield by soldering included
connectors in the right locations
mount rechargeable 12v battery onto robot chassis
extend power supply wires to reach battery terminals
download and install Arduino drivers and programming environment
upload some basic programming on the Arduino Uno
study schematics to map the circuit that will power our robot
attempt to upload programming to the wifi shield
troubleshoot wifi shield
try to use the VEX Cortex in place of our original Arduino components
Troubleshoot VEX Cortex
Dress new creation for its new role as a telepresence robot named Rango.
