Intro

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Saint-Petersburg State University of Aerospace
Instrumentation Robot Phoenix-1
Design Authors Goncharov A. Miheev
A. Jan 2007
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Introduction
24.01.2007 Phoenix-1
Project Phoenix-1 was started 02/04/05 and was
realized by mixed student and engineer team
during autumn semester. Backbone of team is
formed from students (4221 and 4022 student
groups) and engineers of Student Design Center
of SUAI. Mobile robot PHOENIX-1 orients in
external environment with web-cam and has to
follow a white stripe of the arbitrary shape
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Control System of Robot
24.01.2007 Phoenix-1
Laptop gets video images from web-camera and
processes them. Controller gets data from speed
sensors and sends them to laptop by RS-232 using
protocol ASK-Bus 3.1. Backwards controller
receives control commands from high-level
program. Controller converts this control
commands into executive signals to actors PWM
left, PWM right, Direction of rotation left,
Direction of rotation right.
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ASK-Lab Controller Architecture
24.01.2007 Phoenix-1
MULTIPROCESSOR ARHITECTURE - FOUR PIC18F458
CONNECTED WITH I2C CONTROLLER HAS FOUR EXTERNAL
OPTO DECOUPLED BUSES FOR INDUSTRIAL INTERFACES
LIKE RS232 / RS422 / RS485 A LOT OF PINS (ANALOG,
INTERRUPT INPUTS, DIGITAL I\Os, PWM OUTPUTS) GIVE
POSSIBILITIES TO HAVE LARGE AMOUNT OF PERIPHERY
DEVICES
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ASK-Lab Controller Appearance
24.01.2007 Phoenix-1
ASK-LabController
Interface and Power Module
LED
PIC
Buttons
Optron
Interface Chip
ASK-Lab controller is a universal solution for
wide application area.
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IDE Constructor A3
24.01.2007 Phoenix-1
High level algorithm description
high prior form RSi task USARTRecTimer
prior high period 5 cond
low prior form RSi task
USARTRecInt prior low maxdur 10 from
RSo task USARTSendInt prior
low maxdur 10 background form RSi
task USARTRec prior back maxdur 10
cond EnableFlag from RSo task
USARTSend prior back maxdur 10
cond !(RunFlag)
MPLAB Standart Developer Interface
IDE MPLAB (Microchip,USA)
TARGET HARDWARE
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Radio Control - 1
24.01.2007 Phoenix-1

• Operator sees robot by his own eyesight and
  control movement of robot by control console by
  RF channel.
• Operators control commands are transmitted to
  robots controller, where they are converted to
  executive signal to actors (motors).
• Video from camera and sensors signals are written
  to laptops HDD.
• Later, the saved video and sensors information
  are used to teach neuron.

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Radio Control - 2
24.01.2007 Phoenix-1

• Video from camera is compressed and transmitted
  to operators PC by Wi-Fi. Simultaneously, video
  and sensors signals are written to laptops HDD.
• Operator sees video image and uses joystick to
  move the robot.
• Operators control commands are transmitted to
  robots laptop and are converted to executive
  signal for actors (motors).
• Later, the saved video and sensors information
  are used to teach neuron.

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Screenshots of High-Level Software
24.01.2007 Phoenix-1
Operators software
Robots software
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Photos of Phoenix-2
24.01.2007 Phoenix-1
Inside Phoenix - 2
Phoenix-2 and control console
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Demonstration
24.01.2007 Phoenix-1
Demonstration
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Contacts
24.01.2007 Phoenix-1
Goncharov Alexander 5 course student Email
go-shurik_at_yandex.ru
Miheev Aleksey 5 course student Email
miheev_at_aanet.ru