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Problem/Need Statement
 System Requirements
 System Analysis
 Functional Decomposition
 Concept Renderings
 Market Survey
 Risks
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Problem – Currently there is a robotic
frame with two mobile robotic arms, but
a static shell for the head.
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Need – The head needs to be capable
of showing human-like facial emotions
and movements.
› Smile, frown, frustration, etc;
› Tilt, roll, and pan the head.
The head shall look clean and nonthreatening,
while retaining human-like attributes.
 The head shall pitch, roll and yaw within a 90º, 90º,
90º arc of motion within a user specified duration.
 Movement of the head shall be smooth and well
transitioned.
 The mouth and each eyebrow shall be handled by
a single servo, with a 180º arc of motion within a
user specified duration.
 Motors shall be quiet and not distracting.
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Microphones shall be used to listen for human
speech and object interaction noise within three
meters of the robot while distinguishing between
ambient noise and human voice.
 A camera shall be implemented within the head or
body to provide/process visual feedback.
 The microcontroller board shall be connected to a
PC via serial or USB.
 Servo wiring shall be twisted pair (to maintain low
noise emission).
 API shall be done within C/C++. Interface will be
done in C#.
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A single RS-232 Servo Controller will
handle all pulse width control signals to
all eight servos.
 A power supply will have enough power
for all servos and controller
 Programming will provide user
communication to controller.
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Provided by Alex Stoytchev
Provided by Alex Stoytchev
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There are a very limited amount of
projects/products similar to ours.
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MIT does have a comparable project
that is focusing on environmental
interaction, and is replete with eyebrows,
eyes, mouth and neck.
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Technical:
› Servo controller/motor malfunction.
› Difficulties integrating serial interface.
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Financial:
› Parts may exceed small budget.
› Loss/denied funding for project/parts.
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Schedule:
› Shipping delays
› Other course work delays project tasks
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Customer Acceptance
› Not pleased with result/design and
documentation
› Solution might exceed budget
Hardware specification
 Software specification
 User interface specification
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Three servos
0-180º < 1 second
Three degrees of
freedom
Easily Fits inside
space provide on
the chassis
Supports up to 4kg
Price: $60.00
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Control System: +Pulse Width Control 1500usec
Neutral
Required Pulse: 3-5 Volt Peak to Peak Square
Wave
Operating Voltage: 4.8-6.0 Volts
Operating Temperature Range: -20 to +60 Degree
C
Operating Speed (4.8V): 0.24sec/60° at no load
Operating Speed (6.0V): 0.20sec/60° at no load
Stall Torque (4.8V): 106.93 oz/in. (7.7kg.cm)
Stall Torque (6.0V): 133.31 oz/in. (9.6kg.cm)
Operating Angle: 45° one side pulse traveling
400usec
360 Modifiable: Yes
Direction: CW/Pulse Traveling 1500 to 1900usec
Current Drain (4.8V): 8.8mA/idle and 350mA no
load
Current Drain (6.0V): 9.1mA/idle and 450mA no
load
Motor Type: 3 Pole Ferrite
Potentiometer Drive: Indirect Drive
Bearing Type: Dual Ball Bearing
Gear Type: 3 Metal Gears and 1 Resin Metal Gear
Connector Wire Length: 11.81" (300mm)
Dimensions: 40.6 x 19.8 x 37.8mm
Weight: 1.94oz. (55.2g)
Price: $40.00 each
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Control System: +Pulse Width Control
1520usec Neutral
Required Pulse: 3-5 Volt Peak to Peak Square
Wave
Operating Voltage: 4.8-6.0 Volts
Operating Temperature Range: -20 to +60
Degree C
Operating Speed (4.8V): 0.10sec/60° at no
load
Operating Speed (6.0V): 0.09sec/60° at no
load
Stall Torque (4.8V): 20.8 oz/in. (1.5kg.cm)
Stall Torque (6.0V): 23.5 oz/in. (1.7kg.cm)
Operating Angle: 45° one side pulse traveling
400usec
360 Modifiable: No
Direction: CCW/Pulse Traveling 1520-1900usec
Motor Type: 3 Pole Ferrite
Potentiometer Drive: Indirect Drive
Bearing Type: Top Ball Bearing
Gear Type: All Nylon Gears
Connector Wire Length: 12”
Dimensions: 21.8 x 11 x 19.8mm
Weight: .27oz. (7.8g)
Price: $14.00 each
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Max packet size: 59 bytes
Max control rate: 15 instructions /
second
74% available bandwidth used worst
case
1 to 8 servos per board with 8-bit
resolution
<1° of servo position precision resolution
Servo port can be reconfigured for
digital output to drive on/off devices.
Interface to PC through RS232 Serial
port (2400 to 19200 baud).
User definable board ID number
(allowing multiple boards to share
same serial line).
5-Ch, 8-bit A/D input port for reading 0
- 5 Volts. (Control servo positions via
Joystick/Pot)
Dimensions: 1.4 in X 1.7 in
Servo Connectors: 3 pin J-type
connectors.
Power supply: 7V-15V
Price: $80.00
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MIC Type: Gooseneck
Element: Back electret
condenser
Polar Pattern: Cardioid
Impedance: 250Ω
Frequency: 50 Hz to 18 kHz
Sensitivity*: -65 dB +/- 3dB
Max SPL @ 1% THD: >130 dB
S/N Ratio: >65 dB
Phantom Voltage Req: 9V – 52V
DC
Connector: XLR Male
Dimensions: 18-1/4" L x 3/4" Dia.
Product Weight: 4 oz.
Material: Cooper
Finish: Non-glare black finish
Price: $80.00
*(0dB=1V/BAR 1,000 Hz indicated by open
circuit)
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Sensor: CMOS VGA sensor
technology
Resolution: Motion Video:
640 x 480 pixels video
Still Image: 1.3 megapixel
(1280 x 960 pixels,
interpolated) photos
Field of View: 55° diagonal
field of view
Automatic face tracking
Digital pan, tilt, and zoom
Manual focus
Price: Already provided
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Servos
› Function Generator
› Oscilloscope
› Bench-Top DC Power Supply
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Microcontroller Board
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Oscilloscope
Computer with serial connection
HyperTerminal Communication Software
Bench-Top DC Power Supply
Power Supply/Voltage Divider
› Bench-Top Multimeter
› Bench-Top DC Power Supply
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Frame (Eye Tray)
› Completed frame and servo assembly
› Working serial computer communication
› Final testing stage
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Frame (Aesthetic Plate Attachment)
› Completed frame and servo assembly
› Final testing stage
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Neck Joints
› Completed head with plates attached
› Working serial computer communication
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Theoretical:
› Expression-Movement Mechanics
(SolidWorks)
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Physical:
› Expression-Movement Mechanics
› Aesthetic plate connections
Drawn with the assistance of Robert Peck
Drawn with the assistance of Robert Peck
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Software tools to allow for interaction
with our robotic head
› RS-232 Instructions
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Broad library
› Easy to develop scripts
› Implementation
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Written in C
› Accommodate robotic arm code
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Broad functions that allow for full
movement control
› Each servo is controlled and receives feedback
from microcontroller.
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Descriptive functions
› Anticipate future changes
› Easy to read and use
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Command hierarchy
› Reduce redundant code
› Stable functions
› Easy to create new functions.
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Unit Testing:
› Test each software component.
› Ensure each component works to design.
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Software System Testing:
› Manual test using HyperTerminal
› Ensure system works to design.
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User Validation
› Ensures design overall correctness.
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User-directed scripting for robot
animations.
› Save and open scripts
Manually adjust individual facial and
neck parts.
 Easy-to-use tabs for different aspects
 Adjust hardware related options.
 Image provided to allow judgment of
ending animation (with preview button).
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To create animations for head
 To create a clean, easy to understand
interface
 To create a stable interface with:
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› Proper error reporting
› Feedback for the user
› Crash acknowledgement