Individual Progress Report

Description

The Individual Progress Report (IPR) is a chance to put your contributions to the team's progress in writing. The report will discuss not only the components and subsystems you have personally been responsible for, but what components you have helped work on as well. It is important to talk about the relation between your work and your teammates' work as well.

Requirements and Grading

This report should be 5-12 pages of your own work. This means that you cannot take paragraphs/text from your Design Review document, since that was a collaborative effort. The IPR Grading Rubric describes what we look for in grading this assignment. The requirements are expanded on below:

  1. General: Concise writing is encouraged, but it is important that all pertinent information is conveyed. All figures should be labeled and formatted consistently.
  2. Formatting: Please refer to the Final Report Guidelines for general writing guidelines, since the format of this report should be very similar to that of the final report. Note that each component of the Final Report may be tailored to the parts of the project the individual has been active in.
  3. Introduction: First, discuss what portion of the system you have been active in designing connects to which portion of a different subsystem, and how these interact to complete an overall objective. Then discuss what you have accomplished, what you are currently working on, and what you still have left to do.
  4. Design: Discuss the design work you have done so far. It is expected that you have done calculations and/or found relevant equations, created circuits for your parts of the project, and simulated / drawn schematics for your parts. You may have already, at a high level, discussed how your part fits into the rest of the project, but you should expand on the technical details and interface between your module(s) and the other modules of the project.
  5. Verification: Testing and verification is also very important. Make sure you describe each test that was performed and its procedure in detail, and give quantitative, meaningful results. Also describe tests that have yet to be performed. We should be convinced that if all your tests will pass, your part of the project will work.
  6. Conclusion: Discuss a plan and timeline for completing your responsibilities and your project as a whole. Also explain the ethical considerations of your project by consulting the IEEE Code of Ethics, ACM Code of Ethics, or another relevant Code of Ethics.
  7. Citations: You need citations. Cite sources for equations, Application Notes you referenced in your design, and any literature you used to help design or verify your work. If you checked something from another course's lecture slides, Google'd for things related to your project, or anything similar, then you have something you need to cite. At the very least, since you have talked about the ethical considerations of your project as it relates to a published code of ethics (e.g., IEEE or ACM), you should cite those!

Submission and Deadlines

The IPR should be submitted on canvas in PDF format by the deadline listed on the Course Calendar.

Oxygen Delivery Robot

Aidan Dunican, Nazar Kalyniouk, Rutvik Sayankar

Oxygen Delivery Robot

Featured Project

# Oxygen Delivery Robot

Team Members:

- Rutvik Sayankar (rutviks2)

- Aidan Dunican (dunican2)

- Nazar Kalyniouk (nazark2)

# Problem

Children's interstitial and diffuse lung disease (ChILD) is a collection of diseases or disorders. These diseases cause a thickening of the interstitium (the tissue that extends throughout the lungs) due to scarring, inflammation, or fluid buildup. This eventually affects a patient’s ability to breathe and distribute enough oxygen to the blood.

Numerous children experience the impact of this situation, requiring supplemental oxygen for their daily activities. It hampers the mobility and freedom of young infants, diminishing their growth and confidence. Moreover, parents face an increased burden, not only caring for their child but also having to be directly involved in managing the oxygen tank as their child moves around.

# Solution

Given the absence of relevant solutions in the current market, our project aims to ease the challenges faced by parents and provide the freedom for young children to explore their surroundings. As a proof of concept for an affordable solution, we propose a three-wheeled omnidirectional mobile robot capable of supporting filled oxygen tanks in the size range of M-2 to M-9, weighing 1 - 6kg (2.2 - 13.2 lbs) respectively (when full). Due to time constraints in the class and the objective to demonstrate the feasibility of a low-cost device, we plan to construct a robot at a ~50% scale of the proposed solution. Consequently, our robot will handle simulated weights/tanks with weights ranging from 0.5 - 3 kg (1.1 - 6.6 lbs).

The robot will have a three-wheeled omni-wheel drive train, incorporating two localization subsystems to ensure redundancy and enhance child safety. The first subsystem focuses on the drivetrain and chassis of the robot, while the second subsystem utilizes ultra-wideband (UWB) transceivers for triangulating the child's location relative to the robot in indoor environments. As for the final subsystem, we intend to use a camera connected to a Raspberry Pi and leverage OpenCV to improve directional accuracy in tracking the child.

As part of the design, we intend to create a PCB in the form of a Raspberry Pi hat, facilitating convenient access to information generated by our computer vision system. The PCB will incorporate essential components for motor control, with an STM microcontroller serving as the project's central processing unit. This microcontroller will manage the drivetrain, analyze UWB localization data, and execute corresponding actions based on the information obtained.

# Solution Components

## Subsystem 1: Drivetrain and Chassis

This subsystem encompasses the drive train for the 3 omni-wheel robot, featuring the use of 3 H-Bridges (L298N - each IC has two H-bridges therefore we plan to incorporate all the hardware such that we may switch to a 4 omni-wheel based drive train if need be) and 3 AndyMark 245 RPM 12V Gearmotors equipped with 2 Channel Encoders. The microcontroller will control the H-bridges. The 3 omni-wheel drive system facilitates zero-degree turning, simplifying the robot's design and reducing costs by minimizing the number of wheels. An omni-wheel is characterized by outer rollers that spin freely about axes in the plane of the wheel, enabling sideways sliding while the wheel propels forward or backward without slip. Alongside the drivetrain, the chassis will incorporate 3 HC-SR04 Ultrasonic sensors (or three bumper-style limit switches - like a Roomba), providing a redundant system to detect potential obstacles in the robot's path.

## Subsystem 2: UWB Localization

This subsystem suggests implementing a module based on the DW1000 Ultra-Wideband (UWB) transceiver IC, similar to the technology found in Apple AirTags. We opt for UWB over Bluetooth due to its significantly superior accuracy, attributed to UWB's precise distance-based approach using time-of-flight (ToF) rather than meer signal strength as in Bluetooth.

This project will require three transceiver ICs, with two acting as "anchors" fixed on the robot. The distance to the third transceiver (referred to as the "tag") will always be calculated relative to the anchors. With the transceivers we are currently considering, at full transmit power, they have to be at least 18" apart to report the range. At minimum power, they work when they are at least 10 inches. For the "tag," we plan to create a compact PCB containing the transceiver, a small coin battery, and other essential components to ensure proper transceiver operation. This device can be attached to a child's shirt using Velcro.

## Subsystem 3: Computer Vision

This subsystem involves using the OpenCV library on a Raspberry Pi equipped with a camera. By employing pre-trained models, we aim to enhance the reliability and directional accuracy of tracking a young child. The plan is to perform all camera-related processing on the Raspberry Pi and subsequently translate the information into a directional command for the robot if necessary. Given that most common STM chips feature I2C buses, we plan to communicate between the Raspberry Pi and our microcontroller through this bus.

## Division of Work:

Given that we already have a 3 omni wheel robot, it is a little bit smaller than our 50% scale but it allows us to immediately begin work on UWB localization and computer vision until a new iteration can be made. Simultaneously, we'll reconfigure the drive train to ensure compatibility with the additional systems we plan to implement, and the ability to move the desired weight. To streamline the process, we'll allocate specific tasks to individual group members – one focusing on UWB, another on Computer Vision, and the third on the drivetrain. This division of work will allow parallel progress on the different aspects of the project.

# Criterion For Success

Omni-wheel drivetrain that can drive in a specified direction.

Close-range object detection system working (can detect objects inside the path of travel).

UWB Localization down to an accuracy of < 1m.

## Current considerations

We are currently in discussion with Greg at the machine shop about switching to a four-wheeled omni-wheel drivetrain due to the increased weight capacity and integrity of the chassis. To address the safety concerns of this particular project, we are planning to implement the following safety measures:

- Limit robot max speed to <5 MPH

- Using Empty Tanks/ simulated weights. At NO point ever will we be working with compressed oxygen. Our goal is just to prove that we can build a robot that can follow a small human.

- We are planning to work extensively to design the base of the robot to be bottom-heavy & wide to prevent the tipping hazard.