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KINGDOM OF SAUDI ARABIA JAZAN UNIVERSTY College of Engineering Electrical Engineering Department
Lab. Manual Robotics (EngE425) Robonova-AI
Prepared By Dr. Emad Saeid Eng. Hidayath Mirza
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SOME OF THE PROMINENT FEATURES OF ROBONOVA-AI: ............ ......................... .......................... .......................... .......................... .......................... .......................... .......................... .............6 SDRAM VS SRAM............ ......................... .......................... .......................... .......................... .......................... .......................... .......................... .......................... .......................... .......................... ..................... ........ 11 4. CONNECTIONS AND WORKING OF ROBONOVA-AI WITH KROBO (BRAIN) USING IR CONTROLLER & SPECIFICATIONS OF THE BOARDS. ............................................................................................................. ..................................................................................................................... ........ 12
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1. Introduction to robotics. Aim: The aim of this experiment is to create motivation and interest in the field of robotics.
Figure 1. Robonova-AI Table 1. List of videos from www.youtube.com from www.youtube.com and their links.
Serial No. 1.
Video file and youtube link
http://www.youtube.com/watch?v=W1czBcnX1Ww 2.
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2. Introduction to robonova-AI AIM: To understand the basics and hardware of the robonova- AI.
Figure2a. Prototype of Robonova-AI with details
Why Robonova-AI? HBE-ROBONOVA-AI is an intelligent 2-leg walking robot with 17 joints equipped with the following:
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2) The brain board (HBE-KROBO) loaded with 520 Mhz PXA272 32 bit embedded processor and FPGA for video processing and 3) CCD camera visual module. 4) This robot, equipped with brain board and visual module installed in addition to traditional 2-legs walking robot. 5) It is able to perform not only the simple robot operations that were memorized in PC in advance but also intelligent and autonomous actions. 6) HBE-ROBONOVA-AI is a platform that is mostly suitable for future intelligent robot training environment.
Some of the prominent features of Robonova-AI:
Robust frame / High efficient motor technology grafted
Speed control by PWM technology / RC motor compatible
CCD camera (Robot eyes) / 32 bit embedded board (robot brain) installed
32 bit embedded system(Robot Brain) and Linux Environment
Real-time image processing using FPGA
Offers the convenient program environment using ROBOBASIC and ROBOSCRIPT
Robot Vision Experiment using Open CV Library.
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Figure 2b. Prototype of the Robonova-AI’s motor controller
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Specifications of the motor controller are as follows:
Simultaneous control of 24 servo motors
32 input/ output ports (I 3 PWM signal ports
8 channels A/D convertible
Serial control capability (VB, VC++ controllable)
Flash memory installed
Using programs of over ROBObasic V2.5
Serial I/F cable downloading
RC wireless regulator usable
Wireless remote controller supplied as standard
Bluetooth wireless regulation available (Option)
Tilt sensor applicable Fig.2b and Fig.2c shows the diagram of Robonova-AI. It consists of MR-3024 motor controller and two uni-directional sensors. Infra Red (IR) sensor receives the signal from IR transmitter and a tilt sensor which helps the robonova-AI to maintain balance. It also consists of UART module module in it. The UART helps in in the interface between outer world and the robot.
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3. Introduction to KROBO AIM: To understand the basics of the robonova- AI’s KROBO (brain).
Figure.3(a). Top view of the KROBO and peri-ii
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Figure 3(a), Figure 3(b) and Figure 3(c) depicts the top view, longitudinal and conceptualized longitudinal view of KROBO and Peri-II. It consists of the following things: a)CPU Module: PXA272 processor with 520-MHz. b)Peri-1 (FPGA) Module :9 bit Video Image Processor. CPU module module and Peri-1 module is brain board. c) The Peri-2 module is an extra module to help video and software processing.
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(Base board for developing brain and visual functions)
Using FPGA for video processing and recognition
Offers composite video input port of external camera
Capable of convert analog video to digital video
Provides UART communication port for controlling robot
Provides switch for selecting adopter and battery power
WinCE 5.0 and Linux 2.6.12 adopted as operating system
Remote Control using Bluetooth.
FPGA chip receives video data from external input devices such as a CCD camera to digitalize them through a video processor and serves to store required data in SRAM through the video processing that meets user needs.
SDRAM Vs SRAM
SRAM or (Static Random Access Memory) is static (does not need powerrefreshing) while SDRAM is dynamic (needs power-refreshing periodically).
SDRAM (Synchronous Dynamic Random Access Memory) access speed is clock dependent while SRAM accesses directly.
SRAM uses the kind of memory called flip-flops which are used for digital data
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4. Connections and working of Robonova-AI with KROBO (Brain) using IR controller & Specifications of the boards. Aim: To understand the connections made with robonova-AI, the KROBO using IR controller, to know the specifications of the ‘Bra in’ board.
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Theory of connections:
1)
The cables ‘J20’ and ‘J21’ coming out from robonova -AI should be connected to the ‘J20’ and ‘J21’ printed on the ‘Peri -II’; third board
(supporting board). 2) Connect the power supply of the KROBO.
Using IR remote control, press digit ‘1’, ‘2’ and etc to check the pre-programmed activities such as ‘greeting’, ‘walking’, ‘moving’ and etc.
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Table 4(b): Specifications of Peri-II Module
Items
Specifications
Ethernet
1 Port 10/100Base-T Ethernet
UART
RS-232 3 Port, TTL 1 Port
USB
1 Port USB 1.1 Host
Video
1 Port VGA OUT 2 Port Composite Video IN 1 Port Composite Video OUT
GPIO
CPU GPIO : 17 Port
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5. Connections of Robonova-AI for
Linux embedded system(LES). Aim:T o understand the connections made while dealing with the Linux embedded sytem.
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Fig. 5a shows the connections of the robonoa-AI , KROBO and host PC. Apart from this, components are also labeled with numbers. They Th ey are follows: Table 5. List of components and their connection
Number assigned 1 2 3
4
5 6
Name and function Bluetooth UART (wireless connection between KROBO and host PC) Ethernet port (it connects with a LAN cable for high-speed transfer using an Ethernet) JTAG port ( exclusive for FPGA and is downloaded on FPGA using Byte Blaster; a basic package) JTAG (for boot loader fusing and file transfer and connects with parallel cable and a printer port) Power supply port and connects with D.C. 5V 15 PIN D-sub port (which can be connected with a PC monitor and displays controlled
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6. Basic commands and how to locate
the directory of list of activities performed by robonova-AI. Aim: To know the basic commands/syntaxes commands/syntaxes used in LES.
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7. KROBO ‘robottest’ ‘robottest’ Aim: To execute the programs written in LES. Experiment: Continuing the lab. number 6 and step6. Then follow from the step 7 to step 11.
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Table 2
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8. Measurement, Tracking, Shape -
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