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19 SCARA Drawing Robot
Bingzhe Wei
Chenghao Duan
Tianhao Chi
Dongwei Shi design_review
Members: Bingzhe Wei (bwei6) Tianhao Chi (tchi3) Chenghao Duan (cduan2)

Title: SCARA Drawing Robot


We propose to develop a drawing robot based on an SCARA robot arm Overall system processing flow will be as follows:
1. User inputs image to image-processing program on PC.
2. Image processing with program on PC:
a. Style transfer via deep neural networks
b. Clustering of similar colors
c. Pixel fill algorithm to convert to vector strokes
3. Vectors sent to microcontroller program via USB or similar.
4. Microcontroller program does inverse kinematics and commands motors as necessary.

The combination of the SCARA design and stepper motors will enable a very stable and fast drawing platform, while the proposed image processing algorithms enable multiple, arbitrary styles and provide high-quality visual effects. We expect steppers will reduce the need for control.

Proposed circuit will contain an USB-to-Serial converter IC, ATmega644 microcontroller, stepper motor controllers, and optical phototransistors for feedback control, as well as associated support circuitry. We use an ATmega644 with 4K of RAM, double that of ATmega328 as found in regular Arduinos to ensure enough capacity for inverse kinematics, while power will be supplied via a standard wall plug adapter that outputs 12V DC.

Our team also has access to GPUs for training deep neural networks.

Our team members have taken the following courses:

ECE 470 - Robotics
ECE 486 - Control System
SE 423 - Mechatronics
ECE 515 - Control Theory and Design

ECE 547 - Topics in Image Processing - Deep Learning
CS 598 PS - Machine Learning For Signal Processing

Amphibious Spherical Explorer

Kaiwen Chen, Junhao Su, Zhong Tan

Amphibious Spherical Explorer

Featured Project

The amphibious spherical explorer (ASE) is a spherical robot for home monitoring, outdoor adventure or hazardous environment surveillance. Due to the unique shape of the robot, ASE can travel across land, dessert, swamp or even water by itself, or be casted by other devices (e.g. slingshot) to the mission area. ASE has a motion-sensing system based on Inertial Measurement Unit (IMU) and rotary magnetic encoder, which allows the internal controller to adjust its speed and attitude properly. The well-designed control system makes the robot free of visible wobbliness when it is taking actions like acceleration, deceleration, turning and rest. ASE is also a platform for research on control system design. The parameters of the internal controller can be assigned by an external control panel in computer based on MATLAB Graphic User Interface (GUI) which communicates with the robot via a WiFi network generated by the robot. The response of the robot can be recorded and sent back to the control panel for further analysis. This project is completely open-sourced. People who are interested in the robot can continue this project for more interesting features, such as adding camera for real-time surveillance, or controller design based on machine learning.

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