The Chameleon Robot. Lycée Louis-Le-Grand. JACQUIN Aymeric. LAZARD Benjamin. RAKOTOMALALA Adrielle 1 / 20
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1 2013 The Chameleon Robot Lycée Louis-Le-Grand JACQUIN Aymeric LAZARD Benjamin RAKOTOMALALA Adrielle 1 / 20
2 Summary Forewords... 3 What s the concept?... 4 What do we need?... 6 What does it look like?... 9 How does it imitate the color of the ground? How to pilot it from afar? What were the implementation steps? Can we have a look at the Chameleon Robot once completed? A Chameleon Robot what for? The project in just a few words / 20
3 Forewords Animals, that often have natural predators, have throughout ages of evolution, developed numerous camouflage techniques. One of them consists in dynamic change in their own skin color. Several species benefit from such capacity, with, probably the most known, being chameleon. Camouflage is also of central importance for human beings. Have you ever dreamt of being invisible to other people? Indeed, even without natural predators, Humans quickly realized the benefits of being camouflaged within an environment to escape from enemies during wars that took place in every century. Camouflage became an early military issue, but also in areas where being unseen is an advantage (hunting, wildlife photography ). We therefore decided to study the ability of chameleons to change color, in order to develop an application customized to suit humankind: create a robot that can fade in its environment. The main topic of our project was therefore: how can a robot duplicate the colors of its environment while using the camouflaging techniques of chameleons? In order to hide in its environment, a chameleon changes its skin color.. A chameleon s color is mainly linked to chromatophores, special skin cells containing colored pigments. To change color, a chameleon produces a hormone which contracts small muscles that change the shape of the pigmenting cells, hence modifying the distribution of pigments in the chromatophore cells. 3 / 20
4 What s the concept? With the example of chameleons in mind, we defined the main function of our robot: the ability to camouflage within a changing environment. From this main function, we split the various functions that our robot had to accomplish. We summarized these functions in the diagram hereunder, which also highlights the main technological solutions we used. 4 / 20
5 Afterwards, we set up the functional specification of our robot: Functions and constraints Assessment criteria Acceptance levels Tolerance Features of the robot Capture the ground color Distinguish at least 100 different colors ± 20 colors 9 3 = 729 Reproduce the ground color Emit colored lights Produce at least 100 different colors ± 20 colors 9 3 = 729 Frame rate At least 30 times per second ± 3 times/s 48 times per second Move according to the user s orders Maximum moving speed Remote control 1 m/s ± 0.1 m/s 0.3 m/s Be controlled from 10 m and above ± 2 m More than 50 m Be self-sufficient in terms of power Electricity consumption Current consumption up to 3 A ± 1 A 2.6 A (maximum) Autonomy 1 hour minimum ± 15 min 1 h to 1 h 30 Be aesthetic and ergonomic Compact size Maximum weight Maximum dimensions H = 10 cm L = 20 cm l = 20 cm ± 2 cm ± 5 cm ± 5 cm H = 10.7 cm L = 23.1 cm l = 20.3 cm 3 kg ± 1 kg kg Reasonable cost Maximum cost 500 ± ,62 5 / 20
6 What do we need? To analyze the color of its environment, our robot needed a color capturing device. We used the TCS230 sensor as it offers various benefits: small size, reasonable cost, an easy to decode information. This color capturing device is integrated on a small module which makes wiring quite easy, and also neutral color lighting (i.e. pure white) of the ground to allow a precise information emission. Its operating principle is the following one: photodiodes with color filters (red, blue and green) react to light reflected by the ground and generate signals, which can be analyzed in terms of frequencies, these latter being a signature of the ground color. To display ground colors, we decided to use 8x8 RGB LED matrixes as it was the most suitable solution: as we chose to associate one matrix with one color sensor (meaning that each LED of a single matrix emits the very same color for a set time), these matrixes allow us to create a substantial uniform color zone for each color sensor, a result much more difficult to obtain with only a few LED. Besides, these LED matrixes have additional benefits: pins in 2*16 sets makes it easier for wiring, their lightening quality (the goal of the robot is not to lighten up the environment but merely to reproduce a color), and a low power consumption (the max power intensity required to lighten every LED matrix at the same time is in the range of 1.5 A). In order to change the colors of the RGB LED matrixes according to the information obtained from the color sensors, we used a microcontroller. As a matter of fact, this technical solution is quite common in electronic systems when coordination of various components is required. We ended up choosing the PIC16F88, for the following advantages: small size, small power consumption, high computing speed (8 MHz) and a rather easy programming possibility thanks to the Flowcode language. 6 / 20
7 In order to have a mobile robot we designed it with two gear motors, each being equipped with 3V DC motors coupled to a neoprene wheel. We needed a wireless system able to pilot our robot from afar.. After in depth investigations we opted for a smartphone. We hence needed a Bluetooth module (to receive the information sent out by the smartphone), a programmable chipset - the Arduino Uno (to decipher this information) as well as a power interface the Ardumoto (which also simplifies the remote control of the motor). Bluetooth Module Ardumoto Arduino 7 / 20
8 To have a good power autonomy, we decided to use a Lithium-polymer battery, this technology offering the best compromise in terms of power autonomy vs. delivered current intensity. The chosen battery delivers a 7.4 V power supply for a 3200 mah intensity. We also needed two printed circuits (PCB) to link all these components the right way. Thanks to PCB, we can connect them so that they can communicate together, without interfering. It is a better solution than connection wires, firstly, because the information is better transmitted, and also because it greatly reduces the total weight and congestion of the robot. We designed them ourselves. In order to create the robot s body, we built our own structure using PVC plates. It helped us to organize the various components used, to protect, hide, and fix them. It also isolated the sensors from external light, in a way it improves their reliability. 8 / 20
9 What does it look like? The target of this robot is to be self-camouflaged in a natural environment, i.e. on a multicolor patterned surface. Accordingly we decided to have a robot with 9 independently colorable zones, each of them associating a LED matrix with a color sensor. The material design is such that each LED matrix is positioned just above each color sensor, therefore replicating the appropriate detected ground color. Besides, the number of pins and the computing speed of our microcontroller allowed us to use only one microcontroller to pilot two colored zones. We designed a 3 levels structure: At the bottom: the PCB where the color sensors are embedded, close to the ground. Next to the PCB are fixed the gear motors that directly control both driving wheels. At the top: the PCB where RGB LED matrixes are embedded. The latter are therefore placed at the top of the robot so that an up standing observer would see only this part of the robot. In between the two levels are the battery as well as the Arduino, Ardumoto and Bluetooth modules. Both PCB communicate via wire strings. The robot is only ten centimeters thick and, seen from above, looks like a 20 cm side square (the two driving wheels will slightly go beyond this area). Side view front section of the robot Side view rear view of the robot 9 / 20
10 10 / 20
11 How does it imitate the color of the ground? As mentioned above, our sensors deliver for each individual component of light (Red, Green, and Blue, according to the additive color principle), an electric signal. This signal varies in frequency, depending on the intensity of each RGB component in incident light. Our computer program, executed by the microcontroller, first analyses these signals, that it gets via some of its pins, linked to the color sensors, and determines the related frequencies. Thanks to computations, it then calculates the intensity of the three RGB color components (that the LED matrix must display) and then converts this intensity into electrical signals with appropriate duty cycles. Duty cycle light intensity Lengh of time the LED is switched on during a period Period Example: a red LED 100 % duty cycle (Maximum light intensity) 50 % duty cycle 0 % duty cycle (LED is switched off) 11 / 20
12 How to pilot it from afar? To drive our robot via a wireless remote control, we opted for a communication between the robot and a smartphone. We therefore had to develop two independent programs to allow this communication: on the one hand, software for the smartphone, and on the other hand software for the Arduino. We designed an Android OS compatible application. To do so we used the App Inventor software development, created by Google and then developed by the MIT. The application aims at collecting the information from the accelerometer of the smartphone, to determine its tilt and shift angle, and then to send it via Bluetooth to the Arduino. The application interface allows the user to connect easily his cellphone to the robot, to control in a very intuitive way just moving the smartphone the robot, and to have an overview of its speed and direction. We discovered that the app was too heavy for a few devices. In order to solve this problem, and get the best from the smartphone, we made several apps using either the accelerometer or a virtual joystick, with or without GUI (graphical user interface), so that whatever smartphone you choose, at least one app will pilot the robot. 12 / 20
13 Then, using the Arduino language, we designed a program able to convert the information received from the smartphone (via the Bluetooth module) into a signal usable by the gear motors. This software can be summarized as stated hereunder: Step 1: Arduino looks for the tilt smartphone information: to do so the software analyses the continuous flow of data received, and identifies the variables reflecting the tilt changes of the smartphone. It will then check whether these data are meaningful before storing them. Step 2: Arduino commands the motors: the software goes through a series of computations, using the received data to determine both a speed value as well as a rotation direction to transmit to the wheels. Using both sets of data, the Arduino generates electrical signals with adapted duty cycles to the Ardumoto, which organizes these data, amplifying them before transmitting operating orders to both motors. 13 / 20
14 Synoptic drawing Color sensor R, G or B Microcontroller RGB LED matrix x 9 Power (battery) Gear motor Bluetooth module Arduino Uno Ardumoto Gear motor
15 What were the implementation steps? Before actually manufacturing the robot, we tested the software as well as the components that would later ensure its operation. Here are a few examples of the various tests we made. RGB LED matrixes were subjected to extensive tests in order to produce the most precise color. Indeed, the light emitting chips of each LED have their own specificities: their light intensity is not identical. To prevent the LED from receiving too high current intensity, but also to make sure that each chip emits a comparable light intensity with similar power, We had to add electrical resistors to the pins of the LED matrixes. We calculated the electrical resistor, to ensure that the matrixes displayed a uniform pure white when the max voltage is delivered by the battery (i.e. 7.4 V). These tests helped validate the smooth functioning of the LED matrixes as well as the electrical transistors coupled to the matrix. Matrix Resistor Transistor We then developed the program for the microcontroller via a development platform, linked to two color sensors and two RGB LEDs (acting as matrixes). This also helped validate the smooth functioning of the components. 15 / 20
16 Color Sensors TCS 230 PIC16F88 RGB LED Development platform We manufactured a template to check the Arduino software and the Bluetooth module. We concluded that the Arduino correctly received and translated the data received from the smartphone. Once all components had been positively checked and software validated, we moved to the next step, that is to say a virtual manufacture of the printed circuits using the Proteus software. We eventually moved to the welding of the various components on the printed circuits of the robot. 16 / 20
17 Can we have a look at the Chameleon Robot once completed? 17 / 20
18 18 / 20
19 A Chameleon Robot what for? This prototype is so far only camouflaging itself. Of course, further developed and improved, the technique of camouflage it is using could help hide objects of a certain size in various activities. As an example, in wildlife photography, the robot could easily approach wild animals. Likewise, a military vehicle could blend within its natural environment using these camouflaging techniques. The way it hides could improve the techniques currently in use in the army, introducing a new type of camouflaging: the dynamic change of colors for armored vehicles. Thus, one could imagine a tank adapting itself to the colors of its environment in real time. Besides, the principle of the chameleon robot allows the realization of stealth devices (for the purpose of spying) able to operate on short distances such as drones that is to say remote controlled devices, dynamically hiding. And further using the ability of the robot to analyze the ground colors, one could think of multiplying color coded paths in the field of line following robots (e.g. in hospitals, plants ). 19 / 20
20 The project in just a few words The idea of the Chameleon Robot is based on the chameleon s camouflage techniques. The aim of the project is to design, manufacture and operate via a Smartphone, used as remote control device, a small mobile robot which can duplicate the colors of the ground where it moves on, hence being camouflaged to the outside world. On the one hand, in order to achieve these goals, we used a LED matrix (RGB) which can diffuse uniform colors, coupled to sensors that can precisely identify ground colors. This robot is so designed that various independent zones, each being able to replicate its specific spot of ground color below the robot, allow the robot to mock up as a checkerboard of multiple colors the various colors it drives over. On the other hand, we also created a system which can receive and decipher information received from the Smartphone (i.e. wireless connection by Bluetooth) to further pilot motors which in turn drive the robot in any required direction. Further more, there are a lot of possible spin offs of this project, if the main principle of our robot is extended to a larger scale: first, regardless the mobility of the robot but just its function of analyzing the environment colors, we can imagine a robot following divers color coded paths and not only black lines like it used to be (e.g. in hospitals, plants ). In addition, the ability of the robot to mock up various specific colors could help to create new products in the field of home design. The main application of our robot is to camouflage and pilot from afar an object, no matter what its size is. So, in the Defense sector, such a system would allow large sized vehicles (e.g. armored vehicles) to be much more camouflaged: indeed, the camouflage in the army has become necessary to army missions, to move into an enemy land without being seen and protect soldiers since they can act from afar. Besides, in the Intelligence sector, we could use spying robots like drones. As a last example, in the area of wildlife Photography, hidden picture or video systems would allow totally new shots with the principle of our robot. Finally, one of the main advantages of the Chameleon Robot is that it is not only resistant to mild weather but also will not harm the environment. 20 / 20
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