Salvatore Domenick Desiano

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PSA The Personal Satellite Assistant
Salvatore Domenick Desiano October 3, 2002
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Todays Menu

• Design to DeploymentHow to build a robot people
  might actually use
• PSA when a tricorder and a droid mate
• Inspiration and Design
• Subsystems and Prototypes
• Testing
• The Future
• Careers in roboticsWhy you might want to do
  what I do

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Who needs robots?
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Design to Deployment
CONSTRUCTION
Design iteration
DESIGN
IDEA
NEED
TESTING
DEPLOYMENT (or production or sales)
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Beautiful and Dangerous
(and a little cluttered)
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Inspiration
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Models and Sketches
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Conceptual Design
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Requirements or Desirements?
Speaker
Vent
Microphone
Stereo Camera
LED Spot Light
IR Sensors
Gimbal Mount
Stereo Camera
Propulsion Fan Ducts
Temp Humidity Sensor
Video Display
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Slide 10
Requirements

• Autonomous
• Low power
• Small
• Screen, environmental sensors cameras
• No environmental modifications
• Safe
• Red.

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System Design

• Subsystem
• Fan Propulsion
• PC-104 Computer, Artificial Intelligence
• Gyros, Cameras, Accelerometers, Thermistor,
• Plastic Sphere
• Batteries

• Function
• Locomotion
• Thinking
• Sensing
• Structure
• Energy

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Risk Reduction Through Rapid Prototyping
Building Robots
Building Subsystems
Modeling Subsystems
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Slide 13
Propulsion System
Single-Fan
Dual-Fan Axial Port
Dual Modifed-Flatpak Blower v1
Dual-Fan Iris Port
Quad-Fan Iris Port
Dual Modifed-Flatpak Blower v2
Dual Radial Blower v1
Dual Radial Blower v2
Bubba Jet
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Mechanical Design
(or, the physical subsystem)
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Electromechanical Subsystem
Crossbow CXL04LP3 3DOF Linear Accelerometer
Pair of Electrojet EDF200 Fans
Bus Voltage Sensor
Pair of Electrojet EDF200 Fans
Pair of Electrojet EDF200 Fans
Vaisala 17204HM Temperature/Humidity Sensor
Pair of Electrojet EDF200 Fans
Bus Current Sensor
Pair of Electrojet EDF200 Fans
Pair of Electrojet EDF200 Fans
23 Sharp GP2D15 IR Range Sensors
Fan Current Sensor
Primary CompactFlash Card
Motor Controller Board
4 Switch Indicators
Motor Controller Board
Motor Controller Board
Motor Controller Board
PCMCIA to CompactFlash Adaptor
WaveLan 2 802.11 PCMCIA Card
Motor Controller Board
Videre Design STH-V3 Stereo Pair
Motor Controller Board
Videre Design STH-V3 Stereo Pair
MicroSys MPC550 I/O Board
PXC200 Frame grabber Board
RTD FAN104 Power Supply Board
ISA
PCI
QVGA LCD
RS-232 (2)
VGA
RS-232 (1)
MicroFloppy
Keyboard
Ethernet
Internal Temperature
Parallel
IDE
IDE-CompactFlash Adaptor
Boot CompactFlash Card
Acsension Technologies 3DOF Rate Gyro
Sharp LCD Screen
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Environment-Sensing Subsystem
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Location-Sensing Subsystem
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Artificial Intelligence Subsystem
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User Interface Subsystem
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Model 2 (Lucky)
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Luckys Brain
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Testing
Software simulation
Simulated environments
Also individual subsystems
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PSAs Future
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The Short of ItRobot Design

• Need and inspiration are everywhere
• Design, construction, and testingare equally
  important
• Every robot has unique challenges
• Every design builds on other designs

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Why I Do This

• Combines programming, mechanical design,
  electrical design
• Cool toys
• Lots of team work
• My work actually does something
• My work makes a difference
• Fame and fortune
• Get to talk to people like you

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You Oughta Be In Pictures
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Science Factor Science Fiction?
Science Fiction
Science Fact
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How You Can Do This

• Do hobby robotics(there are clubs for both teens
  and adults)
• Read, learn, and look aroundneed and
  inspiration are everywhere
• Finish college
• Study engineering, or computer science, or
  physics, or
• Do internships

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The Short of ItA Career in Robotics

• Robotics builds on many different fields
• Robotics is fundamentally a team discipline
• There are many ways to get into robotics
• There are still many fundamental problems that
  still need to be solved
• The work is fun. No kidding around.

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To Need or Not to Need
?
?
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The Short of ItNo field is an island.
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The Short of ItRobot Design

• Need and inspiration are everywhere
• Design, construction, and testing are equally
  important
• Every robot has unique challenges
• Every design builds on other designs

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Slide 33
The Short of ItA Career in Robotics

• Robotics builds on many different fields
• Robotics is fundamentally a team discipline
• There are many ways to get into robotics
• There are still many fundamental problems that
  still need to be solved
• The work is fun. No kidding around.

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Slide 34
The Short of ItNo field is an island.
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For More Information

• http//ic.arc.nasa.gov/projects/psa
• sdesiano_at_arc.nasa.gov