SPRING SEMESTER. Turhan DOAN from Computer Engineering Department: Software Development Process

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2 SPRING SEMESTER In this semester, we have started to make our regular meetings. In our first meeting, we talked about last semester and tried to evaluate our progress and found our missing points. And then we tried to make a decision on what we will do in this semester. We decided to make a division of labor to make our progress faster. However, we thought that every group member will inform the others and some works will continue together. And now our division of labor; Turhan DOAN from Computer Engineering Department: Software Development Process There are several software part in this project. Every part in this project will be studied concurrently to have some improvement. These parts can be grouped as; sound processing, artificial intelligence and learning, movement control and presenting expression for High-TA. The process of these parts is explained correspondingly. 1. Sound processing this part of the project is has many problems as the algorithms that is to be used is not exact. Firstly the algorithms will be tested on a software to make sure that the intended result will be obtained by the running algorithms. Matlab as a software has built in functions to make experiments on these algorithms. The algorithms associates to sound processing require real-time processing and some memory. Therefore the microchip that will be used on sound processing should be fast and large in terms of memory. There is no need for interrupt driven microchips. This part in the project should be taken seriously as the algorithms could not be run on poor microchip.

3 The studies associates to this part of project have already started. In the march and by the mid-april the complex algorithms will be ready for experiment on microchip. From the process that will start by mid-april and end by start of May is experimenting the algorithms on microchips and make some simplification on these algorithms as it is needed. In May, interfacing to sound processing part to high-ta will be studied up to 26th of May. 2. Artificial intelligence and learning The artificial intelligence and learning part of the project will be held on the simulation tool called ODE. An environment in simulation tool will be prepared and this will be used as a test area for this part. The environment will prepared by the middle of April. The rest of the April and by the first week of May some minimized number of states will be concluded for use of an algorithm based on Q-learning algorithm. The next three week the algorithm will be transferred to microchip and tested on microchip. the interfacing to this part to main High-ta will be held in last week. 3. Movement control and presenting expression The part related to this part is divided in two and these parts will not be processed concurrently. The algorithms related to controlling facial expression will be prepared by middle of April. In third week of April the algorithms related to facial expressions will be experimented and ready on microchips. The next part is movement control part. This is related to use of servo-motors by microchips. This microchip that will be used in this part can be slow relative to other microchips that are used in the project in terms of speed but should be interrupting driven. The software part will be started by fourth week of April and will be completed and tested by third week of May.

4 Özgür GÜNE from Electrical and Electronical Engineering Department: We decided to make the High-TA s face from LEDs (almost mm LEDs). We think to use 12x18 (or X x Y) LED matrix with the control of PIC16F877 for face gestures. The LED control board will be in the control of another (main) PIC 16F877 microcontroller. Özgür G. found some examples about LED matrix. He will try to understand and develop them. Hardware: Software: LEDs, PIC16F877, PIC & Eeprom programmer. MPLAB-IDE, Microcode Studio, PIC Basic Pro, IC-Prog. Özgür ÜNSAR from Electrical and Electronical Engineering Department: We decided to use PIC 16F877 as the main controller of High-TA. Movement, communication and other skills of High-TA will work based on this controller. In addition, we will use IR transmitter and receivers inside the High-TA. These sensors will be used for determination its location and finding its rotation. They will transmit their location and rotation data to PIC16F877 main micro controller. At the first week of this semester, I researched some applications of IR sensors and PIC s. Then I will construct of Pic16F877, IR sensors on the Control Board to determine our hardware standards. Since I think that I will have some problems at this part of construction, I will prepare suitable solutions for difficulties. On the following days, I will analysis some software algorithms about Micro controller Programming. Moreover I will apply suitable ones on our hardware by using PIC Programming Card and control board. The next important step is the testing operations of IR modules with PIC micro

5 controllers on the Control Board. According to results of them, I will prepare some software for programming PIC and controlling sensors. The final step of the process is the assembling of High-TA and testing. This step may take very long time. Therefore I will try to finish previous steps in a shorter time and I want to have long time for assembling of High-TA and testing. Hardware: Pic16F877, IR transmitter and receiver modules, PIC Control Board. Software: Mplab-IDE, Pic Basic Pro Hakan MENCEK from Mechanical Engineering Department In this semester, I will deal with servomotor control for the motion of High-TA. First of all, I will determine the approximate weight & center of gravity of High-TA in order to simulate the motion mechanism. Then I will make an analysis by Excel to determine position of links at different angles. Also in order to determine the real dynamic forces, etc. a simulation will be performed by ADAMS (Automatic Dynamic Analysis of Mechanical Systems) software. After determining the angles, a program by Visual Basic will be developed for the control of servomotors by PC and these angles will be given to the servomotors in order to be tested. After testing stage, the programming of servomotor controller will be start and it will continue until the demo. The demo will contain the performance of main motion. After demo, other sub motion models will be developed. Implementation of software to the microcontrollers and communication between different subsystems will be performed. Finally, the body parts will be assembled and High-TA will stand up. Aslı KÜÇÜKKATERL and Ali ZENGN from Industrial Design Department:

6 In this semester, we have made 3D modeling of High-Ta. According to our decisions that we have taken in our meetings, we will work on face expressions of High-Ta. These expressions include five main expression and four transition expressions. Secondly, we will prepare the website of High-Ta by using the images and searches that we had and will upgrade this website during this semester with new images and implementation photos and section drawings, posters of final presentation of High-Ta. Thirdly, we will 3D modeling of these expressions and give these data to Özgür to make electronically implementation of them. Next, we will prepare a state chart to make clear the behaviors, feelings, expressions and actions and how they will act together and in which combination. And finally, during this semester we will support our team by making mock-ups for testing purposes and make detailed 3D shell modeling for rapid prototyping to make final production. High-TA WORKPLAN OF GROUP-D WEEK 1 March 15-22

7 We decided to use Pic16F877 as High-TA s main controller. In addition, we think to use IR transmitters and receivers inside High-TA to communicate with its environment. I researched about their applications suitable for our work. Determination of hardware & software for motion mechanism (servomotors, microcontroller, control card etc.) Algorithmic tests for sound processing with MatLAB We decided to make the High-TA s face from LEDs (almost mm LEDs). We think to use 12x18 (or X x Y) LED matrix with the control of PIC16F877 for face gestures. The LED control board will be in the control of another (main) PIC16F877 microcontroller. I found some examples about LED matrix. I will try to understand and develop them. Deciding on volume and dimensions according to information supplied by engineers. WEEK 2 March Construction of Pic16F877, IR sensors on the Control Board to determine our hardware standards. Weight and Center of Gravity determination Kinematics Analysis of motion mechanism by Excel Algorithmic tests for sound processing with MatLAB, Algorithm preparation and testing for facial expressions Construction of the 4x4 LED matrix in the control of a PIC16F84 microcontroller. ( To improve the soldering technique and to check hardware and software for PIC programming) 3D modeling according to dimensions. Designing website. WEEK 3 March 29- April 5 I will analysis some software algorithms about Micro controller Programming. Then I will apply suitable ones on our hardware by using PIC Programming Card and control board. Determination of rotation angles for main motion model Simulation of motion mechanism by ADAMS Algorithmic tests for sound processing with MatLAB, Algorithm preparation and testing for facial expressions, environment preparation on ODE simulator. Construction of the 8x8 LED matrix in the control of a PIC16F84 microcontroller and two latches. ( To improve the soldering technique and to improve the understanding of hardware and software for PIC programming) To examine the features and expressions to give data to engineers.

8 WEEK 4 April 5-12 I will test the operation of IR modules with PIC micro controllers on the Control Board. Determination of rotation angles for main motion model Programming servomotor control card for determined angles Visual Basic programming to control servomotors by PC Algorithmic tests for sound processing with MatLAB and finalizing this part, finalizing Algorithm preparation and testing for facial expressions, environment preparation on ODE simulator. Construction of the 12x18 (or X x Y) LED matrix in the control of a PIC16F877 microcontroller (and two latches?) (1) To prepare state chart of behaviors, actions and expressions. WEEK 5 April I will prepare some software for programming PIC and controlling sensors.(1) Programming servomotor control card for determined angles Transferring and experimenting sound processing part and facial expression part on microcontrollers, states determination for learning algorithm, Construction of the 12x18 (or X x Y) LED matrix in the control of a PIC16F877 microcontroller (and two latches?) (2) Improvement in 3D modeling according to interior parts and state chart. Detailed modeling for attaching mechanisms. WEEK 6 April I will prepare some software for programming PIC and controlling sensors.(2) Second Report & Servomotors Control Demo Transferring and experimenting sound processing part on microcontrollers, states determination for learning algorithm, tests for movement control algorithms. Development of codes for gestures with LEDs (1) Making mock-ups to help test studies of engineers. WEEK 7 April 26-May 3 I will prepare some software for programming PIC and controlling sensors.(3)

9 Programming for other motion mechanisms for different statements Transferring and experimenting sound processing part on microcontrollers, experimenting learning algorithm on ODE simulator, tests for Movement control algorithms Development of codes for gestures with LEDs (2) Making mock-ups to help test studies of engineers. WEEK 8 May 3-10 Implementation of Control System with other subsystems Implementation of servomotor control board with main microcontroller Interfacing the sound processing part to main High-Ta, experimenting learning algorithm on ODE simulator. Transferring movement control algorithms to main High-Ta. Implementation of the LED board with the main microcontroller Examination and improvement of 3D production model. WEEK 9 May Assembling of the High-TA and testing Assembling of High-TA Interfacing the sound processing part to main High-Ta, transferring learning part to Main High-Ta, testing algorithms on High-Ta Assembling of the High-TA and testing Examination and improvement of 3D production model. WEEK 10 May Assembling of the High-TA and testing Assembling of High-TA and Testing Testing algorithms on High-Ta Assembling of the High-TA and testing. Preparing final presentation. (posters and animation)

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