Slide 2:	(NORTMAN)
Goals:  We are always making boats, subs, cars, bugs, lawnmowers, etc.
Each is designed for a specific purpose.  However, we’ve never made a robot for the purpose of human interaction.  Therefore, Pneuman was developed.
It will be a platform with muitiple purposes.
Slide 3:	 (KANOWITZ)
		Electrical subsystem divided into high and low level 
		High level system performs all data analysis
		Uses the low level system to interact with the world

		(NORTMAN)
		Low level system is there to serve the requests of the high level system
	The interaction between the two systems is performed using a serial bus interfaced with all the microprocessors

Slide 4:	Block diagram.
	(NORTMAN)
	show the split between the two systems and show all the low level actuators performed using three 6811’s. Explain how system is modular and show valve module which they will see later

Slide 5:	(KANOWITZ)
	The high level system consists of the 486 embeded computer running linux because it is very reliable. Uses a 2 GB hard drive and a color camea is interfaced to the parallel port. The speech synthesizer is there to give a more human-like interface for the robot to interact. The voice recognition really hasen’t been implemented yet, but future goal include this system

Slide 6:	(NORTMAN)
	The 6811’s are contained on a mekatronix TJ pro board with 32k of external S-ram. Together 3 6811’s control 13 cylinders and 8 drive motors. The valve modules each control one cylinder. This system actually performs the operations requested by the high-level system. Future plans call for the platform to have a sonar system for low- level object avoidance and navigation

Slide 7:	 (NORTMAN)
	The platform closely resembles the major structure of a human. It has 21 degrees of freedom controlled using the pneumatic cylinders and motors.
	The robot will be able grasp and carry objects weighing up to 6 pounds.  

Slide 8: 	(NORTMAN)
Here is a revised picture of the physical platform.  A mechanical engineering team from UF redesigned it.  You can see the neck, arms, waist, and drive wheels.

Slide 9:	(KANOWITZ)
	Just to reiterate the mechanical system. Pneuman uses double acting cylinders to actuate the degrees of freedom. Each cylinder is proportionally controlled using a valve module developed for Pneuman

Slide 10:	(KANOWITZ)
	The valve module consists of two 2-way valves, a five-way valve a controller board, and a valve block to mount it all. The five-way valve controls the direction of the airflow, and the two way valves switch on and off the air supply and exaust.

Slide 11:	(NORTMAN)
	Here is a diagram of the valve module (EXPLAIN IT)

Slide 12:	(NORTMAN)
	Here is a 3D rendering of the valve module

Slide 13:	(NORTMAN)
	The drive system consists of the 8 motors. 4 are used to steer each motor and are controlled like servos. The other 4 motors are used to drive each wheel.  This improves the robot’s maneuverability.  Optical encoders on the drive wheels aid in navigation and synchronize their speed.

Slide 14:	(KANOWITZ)
	The software system is divided just like the electrical system. It consists of the high-level information processing code which runs strictly on the 486 computer and the low-level control code which runs on each of the 6811’s to control the actuators and serve the high-level system.

Slide 15:	(KANOWITZ)
	The high level system consists of the code which runs in the linux operating environment. The code is divided into modules each which share a memory space making it easier to add new modules later. 

Slide 16:	(KANOWITZ)
	Explain all the modules and their functions 
	Process manager used to create all the processes and manage the system
	Communication module used to communicate with the low-level system through the serial port
	The movement control module keeps track of the position of all the DOF and determines what to move to achieve a new position.
	Data analysis module interprets all the sensor data and determines what needs to be done to accomplish a task
	Debug module allows a user to access all the system resources and override and control decisions.

Slide 17:	(NORTMAN)
	The low-level system is completely contained in the 3 HC11’s. It is there to serve the high-level system. The entire system is self contained meaning all the control systems are looped back into the HC11 rather then relying on the 486 for continuous commands. 

End of presentation.   ANY QUESTIONS???