PROJECT HEAD CASE

Final Presentation
Dan Klowden Jon Burns cse477 Spring 2000

THE PURPOSE
Provide paraplegics the ability to perform daily tasks such as household chores without assistance

OUR GOALS
Create a robot that can be controlled by head motion and eye movement patterns
Wheeled robot that picks up things Helmet control device Wireless communication between helmet and robot

A sampler of the bigger picture

FINAL SYSTEM DESCRIPTION

All goals accomplished!
Lego Mindstorm robot Infrared communication Control helmet

It works!

SYSTEM OVERVIEW
HCU
Accelerometer Interface

XS-40
8051 Atmel Microprocessor Keil Vision

Communication
IR

Camera Interface

FPGA Xilinx Sim. NQC Robot

ACCELEROMETER INTERFACE

Left / Right Head Tilt Accelerometer Forward / Backward Head Tilt

X, Y Signal to 8051

CAMERA INTERFACE

THE ATMEL 8051

Accelerometer X and Y Signals

8051

Wireless Communication To Robot

Camera SigChg Signal

ATMEL 8051 CONT.

Integration of all components!
Serial Communication
Timer2 initializations Serial interrupt settings

Lego Protocol
Parity bit calculation Organization of packets

Accelerometer Interface
X,Y interrupts Calibration

Camera Interface and the Control State

SigChg ACK

CONTROL STATE DIAGRAM

Dependent on SigChg signal from camera interface

#1
Wheeled Base

#2
Mid Arm Joint, Wrist Spin

#3
Clamp, Lower Arm Joint

DESIGN DETAILS
Lego RCX Control Routines
RCX Command Center NQC Coding

Wireless Communication
Serial Interface
Lego Protocol

THE LEGO RCX

RCxCC The Command Center

LEGO RCX CONT.

Not Quite C
/*Sets the power to the motor depending on the tilt*/ void motor_drive(int forwardR,int forwardL, int powerR, int powerL) { if(forwardR) OnRev(OUT_A); else OnFwd(OUT_A);

if(forwardL) OnRev(OUT_C); else OnFwd(OUT_C);

SetPower(OUT_A,powerR); SetPower(OUT_C,powerL);

SERIAL COMMUNICATION
2400 baud rate
Timer 2 generated
16 bit auto-reload (T2MOD=0x02) Re-load value = 65,224
//Timer 2 DMA locations sfr T2MOD = 0xC9; sfr T2CON = 0xC8; sfr RCAP2L = 0xCA; sfr RCAP2H = 0xCB; //initializations T2MOD = 0x02; T2CON = 0x34; //timer reload values = 65,224 RCAP2H = 0xFE; RCAP2L = 0xC8; // set SMOD to 1 PCON = 0x80;

Mode 3
Variable baud rate 9 bit UART Programmable 9th bit (parity)

LEGO PROTOCOL
8 bit data; start and stop bits
Not Return to Zero (MAX232) Odd parity Packet Protocol
0x55 0xFF 0x00
Header Command 0x14 0xEB 0x01 0xFE 0x02 0xFD 0x02 0xFD 0x00 0xFF 0x19 0xE6 Variable Source type (always 2) Value lower byte Checksum Value upper byte

LEGO PROTOCOL CONT.

Fill Data Buffers

Trigger Serial Interrupt Routine

Stall Atmel 8051

Invert Parity

ACCOMPLISHMENTS
Functional Robot Wireless Communication Eye Pattern Detection Stylish Head Gear

GOOD / BAD DECISIONS?

Lego Mindstorm set was a good investment
Included IR tower RCX micro processor RCxCC / NQC easy to code

Thresholding image processing of the eye Initial plan to use RC-2, 256K memory

FUTURE IMPROVEMENTS?
Eye Pattern Detection
FSM robustness issues More patterns to detect? A different approach?
Edge detection of pupil?

A better camera than the RC-1 would be nice

Communication error checking

Check response from RCXs

Stronger, better robot