karelino – a robot for stem education
TRANSCRIPT
Karelino – A robot for STEM education
Mihai AgapePalatul Copiilor Drobeta Turnu Severin
2nd Scientix Conference, Brussels, 24 – 26 October 2014T02 / Parallel Sessions I / School projects / Ballroom II / 25.10.2014 / 14:53
PROF. MARIANO GAGO
"AT SCHOOL WE ONLY LEARNT WORDS - NOT REAL THINGS"
The Purpose of the PresentationOverview the KAREL projectDescribe some work done
SpecificationsKarelino prototypeSolving math problemsLesson plansKarel second design
This project has been funded with support from the European Commission.
This communication reflects the views only of the author, and the Commission cannot be held responsible for any use which may be made of the information contained therein.
KAREL PROJECT OVERVIEW
General InformationKarel Project in NumbersPartnersObjectivesResults & OutcomesRobot RequirementsTasts DistributionWork Breakdown Structure
General Information Programme: LIFELONG LEARNING
PROGRAMME Sub-programme: COMENIUS Action type: PARTNERSHIPS Action: COMENIUS Multilateral school
partnerships LLP Link No: 2013-1-RO1-COM06-29664 1 Project title: Karel - Autonomous Robot for
Enhancing Learning Project acronym: KAREL Implementation: 01.08.2013 – 31.07.2015
Karel project in numbers
Countries: 4Partners: 4Teachers: 21Students: 50Mobilities: 96Robots: 20Lessons: 21
WHO?Partners, pupils, teachers
1. Platon Schools (Εκπαιδευτηρια Πλατων) (Katerini, Greece)
2. Beypazari Teknik Ve Endüstri Meslek Lisesi (Beypazari, Turkey)
3. Technikum nr 1 im. Stanisława Staszica w Zespole Szkoł Technicznych w Rybniku (Rybnik, Poland)
4. Palatul Copiilor(Drobeta Turnu Severin, Romania)
Pupils (aged from 14 to 19 years old) & Teachers
WHY?Objectives Improve teaching and learning of science and
technology using robotics as integrator O1. Apply practical math and scientific
concepts while learning to design, build, test and document KAREL.
O2. Create an interdisciplinary curriculum to use with KAREL robotic platform.
O3. Improve confidence and fluency in English and learn scientific and technical vocabulary in partners’ languages.
WHAT?Results & Outcomes Robotics Dictionary in English and each
partner’s language. Robotics Platforms designed and
manufactured (20). Curriculum with at least 21 lesson plans, in
English and each partner’s language . At least 2 lesson plans for each of following fields: physics, biology, programming, mechanics, electronics, and robotics.
HOW?Tasks Distribution Robotic platform design, manufacture, test and
document: a) Mechanical system
Turkey b) Electronic system
Poland (input / output devices) Romania (controller, motor drivers, power supply,
communication) d) Software
Greece (codes for lessons) Romania (codes for input / output devices)
HOW?Tasks Distribution Pupils:
Create robotics dictionary Research, design, build, test, and program
robotic platform Test curriculum
Teachers: Design curriculum Guide pupils
SOME OF THE WORK DONE
SpecificationsKarelino - first controller prototype of Karel robotSolving math problemsThe second design of Karel platform
KAREL SPECIFICATIONS
Agreed at the first project meeting in BeypazariAvailable at http://sdrv.ms/170NTak
Kick-off Project MeetingBeypazari, 10-16.11.2013
KarelMechanical Specifications
KarelElectrical Specifications
KarelInput Devices
KarelOutput Devices
Karel Curriculum
Karel Challenges
KarelOther Specifications
KARELINO - FIRST PROTOTYPE OF THE ROBOTIC PLATFORM
Schematic3D ViewsPCB manufacturingBoard TestingMechanics, Electronics, and Software Integration (Rybnik meeting)First Karel prototype
Why Karelino?
Karel problems2 s LiPo battery managementMotor voltage regulator
SolutionSmall complexity prototype
Cristina – Karel team studentKarel & Arduino -> Karelino
Schema electrică
First prototype - Karelino3D Top View
First prototype - Karelino3D Bottom View
PCB manufacturing method & materials Method = Transfer Toner System Materials = Pulsar kit (PCB Fab-In-A-
Box) http://www.pcbfx.com/
Print the copper layer on paper using a laser printer (600 dpi)
Prepare the single sided board using a sandpaper
Clean the surface with a cloth
Use laminator to transfer the toner from paper to board
Remove the paper using water
The copper layer is transferred to the board
Use green foil (from Pulsar) to seal the toner
Easily remove the green foil
Toner before and after sealing
Etching the board using ammonium persulfate
The uncovered copper was removed (etched)
Remove the toner from the board using thinner
Drill the holes
Test the traces for continuity and short circuits
Use a soldering iron station to solder the components Hot Air Gun Soldering (Hot) Iron
First solder the jumper wires
Add the components and solder them (SMD first & THD last)
Karelino (TOP)
Karelino (BOTTOM)
3D Views vs Real Board
Karelino TestingDesign & Manufacturing Mistakes
Second Project Meeting,Rybnik, 06–13.04.2014
Integration & Testing(Rybnik meeting)
First Karel Prototype(Rybnik meeting)
Proposed Improvements(Rybnik meeting) Integrate new blocks (e.g. Motor voltage
regulator, UART connector, Battery management system)
Make changes to the initial design (e.g. replace USB micro B connector with an USB mini B connector)
Redesign the PCB (components places and traces) according to the chassis shape
Add LEDs to show the state of Bluetooth module
Useful Links
Drawings for manufacturing the Karelino controller http://1drv.ms/1jet3ci
Bill of materials for all designshttp://1drv.ms/1oAF8hr
MATH PROBLEMS
Climbing an inclined planKarel Base DesignsAnimation created in GeogebraProblems Solved
Climbing a 30 % inclined plan
A requirement which seems to be related just to the power of the motors.
Karel Base Designs
Animation created in Geogebra
Rybnik meetingMath Challenges
Theoretical problems related to geometrical constraints study Ground clearance Front overhang Rear overhang
We will use the work for some Math lesson plan
Karel Base Dimensions
Calculus of Rear Overhang
Calculus of Rear Overhang
Calculus of Departure Angle
Ramp AngleGround Clearance
Calculate Ground Clearance (h) with Wolfram|Alpha knowledge motor
Calculate Ground Clearance (h) with Geogebra
SOFTWARE FORKAREL PLATFORM
Programming Languages
C Atmel Studio IDE We created some modules (functions) for
Motors control Serial communication (USART, Bluetooth) Optical line sensors
Arduino Arduino Leonardo compatibility
Microcontroller - ATmega32U4 Use Karel with Arduino?
Karel Visual Software
A former student of mine, Claudia Tudosie, who is now student in the last year at Timisoara University, Computers Enginnering Faculty, chose for his final project a theme related to KAREL. She proposed to create a visual programming language (similar to Scratch) for Karel platform.
LESSON PLANS
Physics Lesson PlanFriction & Speed How the Karel robot will be integrated in the
lesson? Robots will travel along surfaces of different
materials (in order to show that the speed depends on the different surfaces)
What do we need to do? Drive the robot along pathways (straight or
curved) on different surfaces. Measure time, distance.
Materials
Materials with different coefficient of friction Karel robot Stopwatches Distance measuring tools Data sheets Microsoft Excel
Lesson Objectives
Students will: O1. Observe the influence of the road surface
to the speed of the robot. O2. Use relation d = v * t in order to calculate
v when d, and t are given. O3. Propose solutions for improvement of
friction between road and the tires of the robot.
Engagement
Students will predict how the surface of the road affects the speed of the robot.
Example of questions for students: What is the effect of the road type on the
vehicle speed? (bumpy / smooth, straight / curvy)
How can you determine the speed of a vehicle? (distance / time)
More friction means more or less speed?
Exploration Students will measure the speed of the robot on
different surfaces. They will record the data in the next table.
The students will understand how the road materials affect the time needed for the robot to travel a given distance.
Surface type (road) Distance Time
Explanation
Introduce the concept
Distance = Speed * Time
Elaboration
Students experiment with different surface materials and weather conditions. Students record the data in next table
Calculate the speed for each type of tested road
Surface type (road) Distance Time Weather
Evaluation
Students introduce the collected data in an Excel sheet and represent graphically the distance as a function of time for different road materials.
Students answer the next question: How the friction of the roads could be increased or decreased?
ROBOTICS DICTIONARY
Google DocsSpreadsheet Datasheet
Google DocsDocument
KAREL SECOND PROTOTYPE(WORK IN PROGRESS)
New Approach – Two BoardsSchematicsPCB’s DesignPCB’s Manufacturing
Karel second prototype approach 2 boards
Lower board Battery management system Motors
Upper board Controller Regulators I/O devices Motor regulators
Karel Battery Management System - Schematic
Board dimensions
PCB Design
Double Side PCB laminate Components
SMD THD
Software Target3001! - version limited at 400 pins /
pads
Lower board3D bottom view
Lower board3D top view
Lower boardDesign problem
Upper board3D bottom view
Upper board3D top view
Improve Boards Manufacturing Process Older printer (Samsung) – 600 dpi resolution New printer (HP) - 1200 dpi resolution
Very good results after some tests Problems – printer driver for Windows 7
Printing problems MS Word (doc)
Different results Picture (png)
Scaling problems
Good results with pdf files
After we’ve learned how to do it (printing)
After we’ve learned how to do it (printing)
Alignment of TOP & BOTTOM Layers
Toner Transfer problems
Toner Transfer problems
After we’ve learned how to transfer the toner
After we’ve learned how to transfer the toner
Seal the toner
Seal the toner
Quite good alignment between top and bottom
Final upper board with min 0.6 mm tracks (top)
Final upper board withmin 0.3 mm tracks (bottom)
Karel Second PrototypeProblems & Future Work Some circuits (e.g. for battery
management) not tested yet Some integrated circuits are not so easy
to procure (e.g. the ones made by Seiko) Possible new changes in design using
new integrated circuits (e.g. boost regulator supplied from 1 Li-Po battery with high output current capabilities)
Third Karel Project MeetingKaterini, 12 – 19.10.2014
KateriniRobotic Platform Test
Invitation
International Robotics Trophy ROBOTOR
SCRatch International Programming TrialSCRIPT
Bibliography
Agape, Mihai. Agape, Maria-Genoveva. “KAREL Specifications”, agreed in Karel Project Meeting, held at Beypazari on 10–16.11.2013. http://sdrv.ms/170NTak
Agape, Mihai. “Karelino—One Step in Karel Robotic Platform Developing”, presentation given at National Symposium IPO-TECH, Tirgu-Neamt, 29.03.2014
Bibliography (cont.)
Agape, Mihai. “KARELController Design”, presentation delivered at Karel project meeting, held at Rybnik, 06-13.04.2014.
Agape, Cristina-Maria. “KAREL – Controller Manufacturing”, presentation delivered at Karel project meeting, held at Rybnik, 06-13.04.2014.
Bibliography (cont.)
Agape, Mihai. “KAREL – First Implementation Year”, presentation delivered at the Robotic Symposium – Code Week event, held at Katerini on 14th October 2014.
Agape, Maria-Genoveva. “Physics Lesson Plan – Friction & Speed”, presentation delivered at the Karel project meeting held at Katerini, 12 – 19.10.2014.
Bibliography (cont.)
Agape, Mihai. “KAREL – 2nd Platform Design”, presentation delivered at the Karel project meeting, held at Katerini, 12 – 19.10.2014.
*** ATmega32U4, 7766G–AVR–02/2014. Atmel. http://www.atmel.com/Images/Atmel-7766-8-bit-AVR-ATmega16U4-32U4_%20Datasheet.pdf
*** DRV8833, SLVSAR1C. Texas Instruments. http://www.ti.com/lit/gpn/drv8833.
*** LM2940, SNVS769I. Texas Instruments. http://www.ti.com/lit/gpn/lm2940-n.
Bibliography (cont.) *** LM1117, SNOS412M. Texas Instruments.
http://www.ti.com/lit/gpn/lm1117-n *** Bluetooth Module BTM-112 and BTM-182. Rayson. *** BQ241xx - Synchronous Switchmode, Li-Ion and
Li-Polymer Charge Management IC with Integrated Power FETs (bqSWITCHER). Texas Instruments.
*** S8239 Series. Overcurrent Monitoring IC for Multi-Serial-Cell Pack. Seiko Instruments Inc.
*** S8209A Series. Usage Guidelines. Seiko Instruments Inc.
Questions?