Architectural Robotics on Youtube

Here is the three projects that I have with (PAUL, APOORVA, IVAN) on Youtube:

ET movie on Youtube: http://www.youtube.com/watch?v=s1E3AtnlS5g
YOU on Youtube: http://www.youtube.com/watch?v=oh8m83druO8
ITOI on Youtube:http://www.youtube.com/watch?v=IxaOsKu9oBE
or http://www.youtube.com/watch?v=BHXOtuksy0k

mKare

ARCH 879/ECE 893 - Architectural Robotics

mKare: The Mobile Care Unit

Abstract:- The mKare is an interactive mobile unit which is built to aid the physically challenged people in their daily lives. mKare can be controlled by a Wii remote to move in all directions. The sides have arms that rise up to provide an extension whenever necessary, thereby giving more workspace and at the same time keeping the overall size of the table compact. mKare is equipped with a smart lighting system which turns on when there is insufficient ambient light. Overall the mKare is a user-friendly mobile assistant which suits the needs and requirements of the physically challenged people.

Scenario:- Nick Papageorgerio recently suffered from a stroke, and from this, lost his ability to move his left side of his body. After Nick recovered from the initial stage, the doctors dismissed him from the hospital, prescribed him medicine, as well as a new device called the mKare to help him at home. When Nick arrived home and his immediate family left him, he soon realized how important having an assistant would be, and realized why the doctor prescribed the mKare unit along with medicine. In the morning, Nick turned on his favorite television show and then proceeded to get his daily coffee. He soon realized that controlling the wheelchair and holding a cup of hot coffee with one hand would be impossible. Nick grabbed his control for his mKare and quickly controlled it to where he was located. He placed his coffee in the built in cup holder, and went back to the living room to watch television, and controlled the mKare to follow him. After his television show was over, Nick decided to write a letter to his grandkids, however, his new wheelchair did not allow him to use the furniture currently in his house. He quickly remembered his mKare unit and aligned his wheelchair sensors to the new unit, and a table end emerged from the personal care unit and Nick was able to slide under the table and finish writing his letter.

After a long day, Nick decided it was time for bed and headed for bed. When he got to bed, he grabbed his favorite book and began reading, but his arm was getting tired from holding the book. Nick grabbed his remote and again controlled mKare to his bedside, were he activated a sensor to open the side table so he could have a reading surface for bed. Once the arm was, mKare detected low light in the room, and automatically turned on additional lights inside the form.

After Nick finished reading and went to bed, he woke up in the middle of the night to loud thunder and flashes of lighting. The next loud boom turned off the power in the house, and to Nick’s delight, the mKare unit automatically detected the dark light condition, and turned its own lights on to help Nick see.

Images

mKare is standing by ready to be used.

mKare ‘s arms have been activated by the user. Both sides are capable of being used if needed.

The inside of mKare.

Hardware requirements

4 RC servomotors

Wii Remote

IR Led’s (1)

IR Receivers (2)

PhotoResistor (1)

Resistors (1Kohm-3)

LED’s (6)

3 Arduino Boards

Omni directional Wheels (2)

Laser Cut Cardboard

Lego parts.

Code for WII Control

#include

#include "nunchuck_funcs1.h"

int loop_cnt=0;

byte accx,accy,zbut,cbut;

int servoPin1 = 9;

int servoPin2 = 10;

void setup()

{

Serial.begin(19200);

nunchuck_setpowerpins();

nunchuck_init(); // send the initilization handshake

Serial.print("WiiChuckDemo ready\n");

pinMode(servoPin1,OUTPUT);

pinMode(servoPin2,OUTPUT);

}

void loop()

{

if( loop_cnt > 100 ) { // every 100 msecs get new data

loop_cnt = 0;

nunchuck_get_data();

accx = nunchuck_accelx(); // ranges from approx 70 – 182 in X direction

accy = nunchuck_accely(); // ranges from approx 65 – 173 in y direction

zbut = nunchuck_zbutton();

cbut = nunchuck_cbutton();

Serial.print("accx: "); Serial.print((byte)accx,DEC);

Serial.print("\taccy: "); Serial.print((byte)accy,DEC);

if(accy>=180){

int temp;

for (temp = 0; temp <=20; temp++)

{

digitalWrite(servoPin1,HIGH);

delayMicroseconds(1400);

digitalWrite(servoPin1,LOW);

delay(20);

}

}

if(accy<=100){

int temp;

for (temp = 0; temp <=20; temp++)

{

digitalWrite(servoPin1,HIGH);

delayMicroseconds(1600);

digitalWrite(servoPin1,LOW);

delay(20);

}

}

if(accx>=180){

int temp;

for (temp = 0; temp <=20; temp++)

{

digitalWrite(servoPin2,HIGH);

delayMicroseconds(1400);

digitalWrite(servoPin2,LOW);

delay(20);

}

}

if(accx<=80){

int temp;

for (temp = 0; temp <=20; temp++)

{

digitalWrite(servoPin2,HIGH);

delayMicroseconds(1600);

digitalWrite(servoPin2,LOW);

delay(20);

}

}

}

loop_cnt++;

delay(1);

}

Code for Side Arms of the table

#include

ServoTimer1 servo1;

ServoTimer1 servo2; // variable to store the servo position

int Action1 = 2;

int A1 = 0;

int Action2 = 4;

int A2 = 0;

int servopin1=9;

int servopin2=10;

void setup()

{

servo1.attach(servopin1) ; // attaches the servo on pin 9 to the servo object

servo2.attach(servopin2) ; // attaches the servo on pin 10 to the servo object

pinMode(Action1,INPUT);

pinMode(Action2,INPUT);

}

void loop()

{

A1 = digitalRead(Action1);

servo1.write(170);

if (A1==LOW) {

int pos=0;

for(pos = 0;pos<=90;pos++)

{ // in steps of 1 degree

servo1.write(pos); // tell servo to go to position in variable 'pos'

delay(100); // waits 200ms for the servo to reach the position

}

for(pos = 90; pos<=170; pos++)

{

servo1.write(pos);

delay(100);

}

}

A2 = digitalRead(Action2);

servo2.write(0);

if (A2==LOW) {

int pos = 0;

for(pos = 0;pos<=90;pos++)

{ // in steps of 1 degree

servo2.write(pos); // tell servo to go to position in variable 'pos'

delay(200); // waits 200 ms for the servo to reach the position

}

for(pos = 90; pos>=1; pos--)

{

servo2.write(pos);

delay(200);

}

}

}

Code for the Lights

int photoPin = 2; // select the input pin for the pHotoresistor

int ledPin1 = 11; // select the pin for the LED

int ledPin2 = 12;

int ledPin3 = 13;

int val = 0; // variable to store the value coming from the sensor

void setup() {

pinMode(ledPin1, OUTPUT);

pinMode(ledPin2, OUTPUT);

pinMode(ledPin3, OUTPUT); // declare the ledPin as an OUTPUT

Serial.begin (9600); // tells the Arduino to get ready to send data back to the computer

}

void loop() {

val = analogRead(photoPin); // read the value from the sensor

Serial.print ("Value = "); // report the text "Value = "

Serial.println (val);

if(val<=200){

digitalWrite(ledPin1, HIGH); // turn the ledPin on

digitalWrite(ledPin2, HIGH);

digitalWrite(ledPin3, HIGH);

} // stop the program for some time

else

{

digitalWrite(ledPin1, LOW); // turn the ledPine

digitalWrite(ledPin2, LOW);

digitalWrite(ledPin3, LOW);

//delay(val); // stop the program for some time

}

}

Problems Encountered

1) Balancing the weight of the table on only two wheels was a challenge as it compromised the smooth movements of the table. This problem can however be very easily solved if we used four wheels controlled by 4 RC servos.

2) Power supplied to the Arduino was not sufficient for the RC servos to lift the side arms to their fullest extent

Reminder

Hey,
While we're all basking in the glory of our final projects and still recovering from all the work put in to the class this semester, I just wanted to remind everyone that we are meeting this coming Wednesday at the regular time to tidy up the lab space we used.

There will be tour groups and visitors stopping by over the course of the semester and while having some level of chaos shows we're doing work, it's also not fun navigating through the stuff lying around.

See you all (hopefully) on Saturday.
-Apoorva

Project CDs

Hi All.

I wanted to clarify the manner in which we are going to
submit the required CDs of our projects.

Some were saying that each individual would summit
a single CD with their three projects on it (thereby giving
Drs. Green and Walker 2 copies of each project).
Others mentioned 2 copies of a single disk with everyone's
work on it.

Dr. Walker, Dr. Green: what do you prefer?

Paul.

End of the semester cookout

Ok guys, as most of you know, I am defending my thesis tomorrow (Thursday), so I'd like to have all of you come to the Reserve, and eat something at the barbacue, play some pool, drink some beer...

I'm planning on doing it on Saturday since it seems to be the best day for everyone. 
The day is supposed to be beautiful, so bring your bathing suit, there are two pools there.

I'll be taking care of the food so I'd appreciate if each of you could bring some snacks, or drinks, beer or whatever you want.

I think 2pm is a good time to start. We don't want to get up early on Saturday. Especially after the last week of class.

Also, this might be the last opportunity to see some of you, since I will be going back to Spain soon after graduation.

I hope I'll see you all on saturday. It's gonna be fun ;)

PS: For those of you who don't know where the place is. It is called The Reserve at Clemson (where I live) and it's right after the grocery store Ingles, if you are coming from Clemson.
If you have any trouble finding it, give me a call 864-643-9536

Power Outlets/Power Strips for Final Presentation

We should take a count of how many outlets everyone will need so that we make sure we have enough outlets and power strips.

Apoorva/Joe
- 3 outlets - one ofr each arduino
- 2 outlets - one for each of our laptops

Ivan/Joe
- 2 outlets for NYC Particulate Localization model

Invitation

Hi All,

I didn't get the invitation about our gallery in my email, could any one forward that to me. As I am trying to help to invite as many people as possible!

Tarek