Transcript Project Update 5/23/04 - Northwestern University

Boe-Bot Control
Alex Ahmadi
John Hoffman
Andres Huertas
Azeem Meruani
Simcha Singer
Overview
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Technology Background
Demonstration
Programming Details
Q&A
Technology Background:
Gyroscopes
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Angular rate sensors
ADXRS150
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Voltage proportional to angular
rate about axis normal
Resonator Gyro
Coriolis force during angular rate
Capacitive sensing
Similar to Accelerometer
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Closed loop can drive amplitude
to zero
Capacitive sensing
Technology Background: Servos
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Control
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Pulsing signal line
1-2 msec pulses
10-40 msec intervals
Programming
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LabView control based on
gyroscope data
Technology Background: Boe-Bot
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2 wheels, 2 servos
Maneuvers
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Vary speed ratio of wheels
to turn or go straight
Error in slippage?
DAQ input signals for
control
Demonstration
Programming Details
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LabView setup
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Gyroscope VI’s, interaction
BasicStamp Calls
BasicStamp
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Inputs from LabView
Executing commands
Challenges
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Windows limitations
LabView limitations
Other obstacles