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Computer Executed Semi-Autonomous Robot |
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Other Projects Besides CESAR, I have had some other projects in the past and I am currently working on a couple projects. Here are some projects that I either have, or am working on (both the DARPA Grand Challenge project and the Robot Ramble project were collaborative efforts):
SARA For the 2002 science fair I built a radio controlled robot. It's disappointing that for CESAR I had to sacrifice personality for rugged mobility. SARA on the other hand, with her hominid appearance, a head and an arm (perhaps her single arm wasn't so human like). She was 4 feet tall, could go a maximum of 8 mph and had a multitude of input/output devices (as listed below). She was not however, well equip for terrain other than pavement, grass, dirt, or small inclines.
Here is a list of her functions 1.
Go forward, steer, and navigate around by remote. 2.
Send back live, wireless video to a receiver. 3.
Turn on a mounted halogen light by remote. 4.
Turn on a 250 degrees heat pad to protect itself (by burning
someone) or heating something up such as a drink or cold hands. 5.
Send out or suck in a document, paper or money by remote. 6.
Track the robot’s every move using the onboard GPS. The GPS can
also draw out a map of where the robot has gone, how far it has gone, the
speed it is traveling at, and the longitude and latitude. 7.
Walk a dog (or other pet) using the built-in retractable leash. 8.
Wirelessly talk through the onboard sound system using a wireless
audio system. 9.
Play CDs or the radio through the sound system. 10.
Charge its battery using the solar panel. 11.
Send back audio of its surroundings wirelessly. 12.
Transport materials on top of its hood. 13.
Manipulate and/or acquire objects using its robotic arm.
La Cucaracha This was the first go-cart I built. It looked a little strange, but rest assured, it does have quite a bit of power (which I will never forget due to a scar I have on my leg from when it went out of control and ran me over). Not much can top the experience of driving La Cucaracha down a busy street and seeing the looks on the drivers' faces as I cruised at a hefty 12 mph on this moving piece of plywood painted to look like a cockroach. I sold it last summer to make room for a new go-cart called La Mamasita.
La Mamasita
La Mamasita was a spur of the moment decision. I saw an old Powerwheels car in an alley and thought that I could make a go cart out of it. I brought it home (which was a story all in itself for it didn't have any batteries and I was on a bike) and modified the body so that I could fit in it. After moving the seat back 12 inches and tinkering with the drive and power systems, it became a perfectly decent go-cart. I threw on a super-powerful headlamp, a police siren and light, cabin lamps, a sound system with CD player, a key switch and a few other extras. It has a top speed of 15 mph and can tow up to 300 lbs. The one downside is that it is very noisy; so noisy in fact that someone once called the police on me saying that someone in a "huge truck" was trying to steel cars from their building. The police laughed at the site of the "huge truck". Like La Cucaracha, La Mamasita gets many stares when I ride it down the street with the lights blaring and music playing. The valet people at the restaurant Islands were baffled however, when I threw them the keys to La Mamasita. The usefulness of the Powerwheels body would inspire the design of CESAR a few months later.
The DARPA Grand Challenge
Starting in 2003, I worked with the Palos Verdes Road Warriors to compete in the DARPA Grand Challenge to race an autonomous off-road robot across the desert from Barstow, California to Prim, Nevada. Starting with an Acura MDX, we equipped the controls with EMC mobility controls. This actuator suite controls the throttle cord, uses a lever to push the brake pedal, and has a motor connected to the steering column. In addition, the controls can actuate the transmission. We interfaced the EMC controller with a computer using a D/A converter.
(Above) you can see the driver's seat and the EMC controls where the shifter would normally be. The yellow handle under the steering wheel is the steering column actuator unlock, which allows a human to drive the car.
Above is a picture of the hood of the robot. The light bar is for safety, as is the siren speaker in the back right. The black antenna is for the E-stop system that DARPA requires of all vehicles so that they can manually override the vehicle.
This shows the safety equipment controllers, and in the bottom right you can see one of the two CCD cameras used for stereovision. For the first year in the event, we did not implement stereo vision into the software, but it is planned for version 2.0.
This shows the two computers used on the robot. The version 2.0 implementation is planned on being different, using more processing power for the stereo vision.
We used a SICK laser which scans a 180 degree plane for obstacle avoidance.
Above you can see the DARPA control boxes that interface with the robot to override the autonomous control.
In the back of the car is a Honda generator to power all of the energy draining accessories inside the car so that the alternator isn't overloaded.
For year one in the race, we made it to the final race, a feat only 17 other teams in the nation accomplished. Unfortunately, we had steering problems during the race and it ended for us shortly after taking off as we plowed into a concrete barrier. But next year we will be back, and this time to claim the $2 million dollar prize.
The Car Factory specifications are simply unacceptable, at least in my opinion. Because of this, I decided to make a few modifications to my 1992 BMW 525i (since I did all the labor, I was able to make all these modifications for less than $1,000): 1) Car PC System: In the trunk of the car is an AMD Athlon 1.8 ghz computer in a custom build Plexiglas box. Attached next to the amplifier on the back trunk panel, the computer is wired to a Datalux 10.4 inch color LCD touch screen monitor mounted over the center console. In addition, a wireless mini keyboard can be used, but most tasks can be accomplished with the touch screen. With a custom GUI, the computer system does the following: a) GPS Navigation b) Wireless Internet Access - using a 7dbi wifi antenna mounted to the roof c) DVD playback - the DVD loading mechanism is mounted to the top of the trunk, and wired to the computer using a 36 inch IDE cable d) Rear camera - in the rear bumper is a webcam wired to the computer system. For increased visibility and safety, this can be turned on while in reverse. e) MP3 Playback - Thousands of MP3s can be stored on the 40 gig shock mounted hard drive and then played through the stereo system. This renders the need for CDs useless, and via the wifi connection, I can upload new songs to the car from my home computer wirelessly. 2) New Stereo System: I installed a Pioneer 7400 head unit into the dash, replacing the OEM cassette unit. The new head unit plays MP3 cds, has screen savers, and an infrared remote. I replaced the OEM Nokia speakers from the rear shelf with 6 inch JBL woofer component speakers, and I replaced the front tweeters with JBL component tweeters. I then installed a 1000 watt amplifier in the trunk, and strapped a 10 inch Bazooka subwoofer in the trunk. The 525 has a spacious trunk, so fitting the bass tube with plenty of extra space was not a concern. Since BMWs come with heavy noise blocking insulation (which improves sound quality and prevents other motorists from having to listen to your music), I had to remove some of the padding in the rear seats so that the bass could be felt in the cabin. The system sounds very crisp, has deep bass, and even at high volumes cannot be easily heard outside of the car. 3) Alarm System w/ Keyless Entry and Remote Start: I installed a Venom keyless entry/remote-start/alarm system combo into the car. The main unit fits nicely under the rear seat cushion, where the car battery and pre-wired alarm system connector rest. Wired into the alarm system are strobes in the rear shelf, and a 140db siren inside the cabin (in addition to the exterior one). The interior siren has enough power to deafen someone, should they try to steal the car or anything in it. The remote start feature allows me to wirelessly start the engine, which also turns on accessories such as the heater and radio. 4) PA System: Inside the cabin of the car is a mixer. This mixer allows me to mix the music from the stereo system to a microphone clipped onto the dashboard. Hidden behind the front fender is a loud PA speaker hooked up to an amplifier. The audio feed from the mixer goes to the amplifier, where it is then fed through the firewall to the bullhorn speaker. 5) Rear Horn: Have you ever been at a "no right turn on red" intersection, waiting fro the green light to make a right hand turn, and someone behind you honks? Well, I have, and now I can do something about it. Facing the rear of the car are dual tone 135db truck air horns wired to a switch to the right of the drivers seat. Next time someone honks when they shouldn't, they will surly be in for a noisy surprise.
La Guerrita
Still a work in progress, La Guerrita (the "little war" in English), unlike my previous two go-carts, is going to have a streamlined look. It uses a chain drive and a 24v electric wheelchair motor. Most of the electrical systems such as the alpine stereo, headlights, horn and throttle are completed. The part that still awaits completion is the main drive system. Robot Ramble
This robot was designed and built for the 2004 Science Olympiad. Utilizing a scissor lift mechanism and a robotic gripper, the robot is able to pick up objects, place then into its holding container, raise them far above the height of the collapsed robot, and then eject the contents into another container or box. This radio-controlled robot won first place at the Los Angeles regional Science Olympiad.
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About the Project 
