Robotic Systems Design
Robotic Arm Analysis & Path Planning
The analysis of the commercially available robotic arm, the Dobot, consists of the derivation of both its forward and inverse kinematics as well as the design of a path planning application. To demonstrate the application of path planning, the Dobot is configured to pick and place a spherical object while avoiding a rectangular obstacle in its path. The analysis of the Dobot's workspace coupled with the chosen task space configuration allows for a viable path to be generated, simulated, and implemented.
Color Sorting Pick & Place Robot
The multilevel color sorting, robotic pick and place application was developed by Dylan as an end of semester competition for the students in the OSU ME Smart Products course. Developed in C++ on the linux-based Raspberry Pi microprocessor, the software communicates with the camera module using customized digital communication protocols to find the different colored balls; communicates with the robot to move towards, pick up, and release the ball into the correct loading rail; communicates with the DC motor and servo motors to move the stage and unload the balls into the correct bin; and communicates with a LiDAR based distance sensor to provide feedback on the height of the stage.
LiDAR Scanning Point Cloud Generation
The prototype LiDAR scanner is developed on the Raspberry Pi and actuated with two servo motors for pan & tilt angles. The software communicates with the LiDAR sensor via I2C and samples the environment by stepping the motors in small increments to obtain the distance of the nearest object. The servo angles & LiDAR measurement is combined with the kinematic transformation matrix of the scanner to compute the coordinates of the detected object. The scanner continues through its full range of motion and generates a point cloud of the sampled environment.
Mobile Robot
Jansen's linkage is used to design a four legged mobile robot. Designed to transport loads, the robot leverages a custom gearbox to increase torque for higher carrying capacity.
Ohio Script Timepiece
The conceptual luxury timepiece features a unique time display in the form of cylindrical pins in the pattern of Script Ohio. The timepiece operates without the conventional hands, replaced by pins that will elevate in accordance to the specific times within the hour. With 30 pins, each one represents two minutes passing within the hour. Thus, the Script will be traversed once an hour. At the outer edge of the timepiece rotates a diamond shaped dial. The dial’s purpose is to represent the hours place within a 12 hour period. Thus the dial will complete a revolution once every 12 hours. Diamonds on the clock’s edge locate the correct hour.
Gesture Controlled Quadrotor
This rapid prototype was designed and custom built within a two week period. RF communication was used to remotely control the brushless motors. By customizing a glove with IMU sensors the UAV can mimic the desired euler angles.
Embedded Hardware Design
Electronics for Augmented Reality Applications
This embedded design integrates technologies such as Bluetooth, GPS, NFC, and wireless charging. The hardware also integrates LED light pipes, speakers, haptic motors, and a LCD touch screen.
Mixed Signal Control Hardware for Autonomous Wheelchair
The controller interface was designed to be able to remotely control the advanced power wheelchair for the purposes of researching autonomous systems. The interface calls for the generation of analog reference signals to be able to control the magnitude of the vehicle's speed and turning angle as well as the need for digital logic to control the direction of travel (forward/ backward & left/right). The hardware implements an extended GPIO IC to enable the control of the wheelchair from a microprocessor using only I2C.
Coding Examples
C++: Raspberry Pi 3 Custom GPIO Class
This example comes directly from one of the labs Dylan created for the Smart Products course at Ohio State. The students must inherit the provided abstract class and override the pure virtual functions to be able to read from, write to, and set the pin mode of any digital GPIO pin on the Raspberry Pi. This is achieved by manipulating the memory mapped GPIO registers using bitwise algorithms.
Python: OpenMV Computer Vision Communication Protocols Raspberry Pi 3 Custom GPIO Class
This example displays the camera-side python code which is implemented in a multiprocessor computer vision application. Dylan developed a custom made digital communication packet protocol to provide the Raspberry Pi remote access to the OpenMV computer vision system. The software also enables the transmission of packets containing information about the detected objects within the environment back to the Raspberry Pi.
Machine & Tooling Design
Automated Testing Station
This tooling design provides a multi-contact loading mechanism, which eliminates the need for technicians to make electrical connections. Specially designed contacts machined out of beryllium copper maintain proper electrical conductivity while providing the highest material strength of any copper – based alloy.
High Precision Fixtures
These tooling and fixture designs were created for advanced manufacturing technology of highly complex parts with extreme tolerances.