Wii ROBOTIC CAMERA

TEAM 6 JIM LANGE BRETT ROBBINS MIKE STEPHENS

PURPOSE
The Wii Robotic Camera serves to fill a current gap in the television broadcasting industry. The idea for the Wii Robotic Camera started as an idea back in high school for one of our group members while working with a television station. The initial idea and has been expanded for the scope of this course. Currently, cameras in the broadcasting industry require a hands-on-operator. The problems associated with such a set up are the effects of operator fatigue and stability in the camera shots. The broadcasting industry has been moving more and more towards robotic cameras, but to date most applications have been in television studios and not live productions. The Wii Robotic Camera will provide three key essential elements that have been missing for use in live production: three-axes of motion control (to date only two available), stability control (to account for changes in the environment), and an intuitive, compact user interface.

OBJECTIVES
To be considered a successful project, the Wii Robotic Camera needs to be able to do the following: Wirelessly control zoom, focus, and iris for the lens from the Nunchuck. Wireless control the pan, tilt, and roll angle of the camera from the Nunchuck. Drive the robot around wirelessly via the Nunchuck. Have intuitive controls for the user via the three Nunchuck system. Have variable speed control over all lens control (zoom, focus, and iris) and orientation (pan, tilt, and roll angles). Maintain quick response time in stability control with up to a 15-degree change in the environment. The functions and benefits of the Wii Robotic Camera will include: Wireless control over multiple axes of the robotic camera. Replaces hands-on-operator (shoulder mounted camera operator). Reduces operator fatigue. Easily integrated into any standard television-recording set-up. Ability to quickly and easily hard home the camera. The features the Wii Robotic Camera will include: Ability to invert tilt axis (if preferred by user). 120 of freedom in tilt angle. 360 of freedom in pan. 120 of freedom in roll angle. Range of at least 20 feet for controlling the Wii Robotic Camera Wirelessly.

DESIGN
Block Diagram

Block Descriptions User The person holding the Nunchuck operating the camera/robot while watching the video feed and talking to other crew members over the intercom. Nunchuck Nintendo Wii Nunchuck controller that has been hacked to relay control signals through I2C. Furthermore, well be combining multiple Wii Nunchucks and replacing some of the buttons/joysticks with our own analog/digital buttons/joysticks. The Wii Nunchuck will control camera functions and three-axis camera mount movements, and the movements of the platform. Arduino This is the microcontroller that will receive the I2C data from the Nunchuck and button/joystick signals; interpret everything and communicate with the robotic head/base. . RF Transmitter/Receiver This is the RF transmitter/receiver pair that well being using as communication between the Ardruino and the Arduino on the Base/Robotic Head. **Note: there will be a RF Receiver on both the Arduino on the base and the Arduino on the Robotic Head.

Arduino on the Robotic Head This unit will receive all of the commands for Zoom, Focus, Iris, Pan, Tilt, and Dutch. It will interpret these commands and control all of the related motors. This will house the stability control that is responsible for maintaining the reference angles sent to it by the Arduino. This system is primarily meant for when the camera is in motion. It will combat disturbances associated with the ground level while the platform is driving around. Pan, Tilt, and Dutch Motor These are the motors that control the Pan, Tilt, and Dutch. Zoom, Focus, and Iris Motors These are the motors that manually adjust the Zoom, Focus, and Iris settings on the camera. Camera Mount This is the physical mount that the camera mounts to (through a universal camera mount). This is also where the 3-Axes Accelerometer will be mounted for the stability control system. 3-Axes Accelerometer This is the 3-Axes Accelerometer that will be used as feedback for the stability control system. Arduino on the Base This is the microcontroller responsible for receiving the Forward, Backward, Left, and Right commands. Wheel Motors These are the motors that will drive the base, consequently the entire robot, around. Camera This feeds real time images to the Image Feedback (which then transmits the signal). Image Feedback Sends video signal to Truck/Studio and user. Intercom ** Not a part that is being created for project. ** Allows director to communicate with the camera operator. This is a built in function of the Camera. Truck/Studio ** Not a part that is being created for project. ** This is the hub from which the video signals are processed and recorded. It is also where the user is given directions for shooting of the video by director or control room.

Controller(s)States

Turn On This is the state where everything physically turns on, i.e. the microprocessor that communicates with the Wii Nunchuck. All Controllers On In this state all of microcontrollers initialize and verify communication. Hard Home This state is meant specifically for the Robotic Head. It will adjust the pitch and dutch angles so that the camera is level. Read Button (1) In this state the microprocessor reads which button the user pressed. Hard Home Button If the button was a hard home, the Robotic Head will hard home itself. Soft Home Button If the button was soft home, the microprocessor must determine whether or not it was setting soft home or recalling the saved pitch/dutch angles. Held More Than 2 Seconds When the user presses soft home for at least 2 seconds, soft home will be set. Soft Home The camera will be positioned to soft home. Record Soft Home If the user holds the soft home button down for more than two seconds, soft home will be reset to the present pitch and dutch angles values. Base Command If the button pressed is related to driving the base, the instructions will be sent to the microprocessor on the base; otherwise, the data will be sent to the microprocessor on the Robotic Head. Break Button This button indicates if the base is meant to be stationary. Hold Wheel Position If the break button was pressed, the base will remain stationary, regardless of the values coming from the joysticks. Increase Speed Button If the speed button is pressed, the base will change its speed. Use Fast Drive Settings These settings are meant for moving the base around between camera shots.

Use Slow Drive Settings These settings are meant for when the camera is filming. The base will move slower for more precise and steady shots. Robotic Head Command The Robotic Head consists of the motors that control pan/tilt/dutch and camera controls. Enable Button This checks if the enable button for adjusting pan, tilt, and dutch was pressed. Check Reference Values This state checks on what the previous reference angles were. Change in Values Depending which control is desired, any combination of values might be changed. Maintain If no change is required, the current values are maintained. Adjust Variables This state changes the orientation of the camera based on the users desire. Read Button (2) This state determines what command for the camera the user desires (zoom, focus, or iris). Execute This state executes the zoom/focus/iris command.

Arduino Diecimila This is the micro-controller that is at the heart of our designs. It will act as the data acquisition interface from the controllers. It will then route all of that information out though the RF transmitter to the receivers. On the opposite end they will also take in that data from the receivers put them though the corresponding control algorithms and out put the values we need for speed and direction control to all of our motors. There are three of these chips in our design one for the black box for the human interface and two on the robot itself. As described in the previous diagrams Shine RF-408 This is the RF receiver we will be using on the robot platform and camera mount systems. We will use a separate receiver for both systems as we would like the mount to be a free standing peripheral that could be used on different applications, such as a jib. This will take the data from the transmitter and funnel it into the receive data port on the Arduino Shine RB- Ons 01 This is the RF transmitter that will be used on the black box portion of the controller. It will take the output signals from the controller Arduino and send it wirelessly to the robotic platform and three axis mount. We chose this transmitter for its simplicity and its range. ADXL3300 This is a three axis accelerometer. The purpose of this device is to allow feedback to the three axis camera mount. It will tell the system when the platform has moved to a different level that will allow the system to correct the camera angles for the shot to stay in the same direction. Base Remote This is the device that will take the human input that will control the platform. Detailed drawing to follow. Camera Remote This is the device that will take the human input to control the three axis mount and the camera controls. It is a modified Wii Nun chuck that will allow for the robust controls required over the system. Detailed drawing to follow. Voltage Regulator Circuit The system will use 12 volt batteries so these circuits will provide the corrected voltage needed to each of the systems and motors. Bi-Polar Relay Based upon the signal from the Arduino they relay will place the PWM signal on either the positive or the negative channel of the motor circuit. This will allow for both forward and reverse movement on the motors.

Performance Requirements Our system will need to meet the following specifications: Three-axes mount 120 Tilt 60 up and 60down. 120 Roll 60 left and 60 right (this is rotating on the y axis). 360 Pan left and right. Fast response time (2ms) to disturbances (i.e. compensate for changes in terrain). Speed control over different movements with Nun chuck. ( at least 3 different speeds) Ability to hard home the camera. (face forward and perpendicular to platform ) Camera Controls Control Focus with feedback to prevent lens damage. Control Iris with feedback to prevent lens damage. Control Zoom with feedback to prevent lens damage. Communication Complete control with RF signal at 100ft from platform. Disable of Wii Robotic Camera when loss of signal occurs (halt operation when no signal).

VERIFICATION
Testing Procedures To test operation of Wii Robotic Camera we will test each of the sub-systems separately. We will test again after the sub-systems have been fully integrated. Wii Nunchuck Controllers This is a combined system so we will test them together. With changes to the Nunchucks (i.e. when a button is pressed or the joy-stick is moved) we will scope the outputs of the receiver to note the changes in output voltages. We will also test at a variety of ranges from the receiver to test signal strength and integrity PID Controller and Motors Before we can determine our gain values, we need to measure the response of our motors (individually) by either obtaining a step response or a bode plot. This will allow us to design our PID controller. In the continuous time domain our PID controller would be: t de u(t) = p e(t) + i 0 e(t)d + d dt Where e(t) = u(t) y(t)and y(t) is the reference input. Since this controller will be implemented onto a microprocessor, we cant use continuous time, so the discrete representation is as follows: n u(n) = p e(n) + i e(k) + d (e(n) e(n 1)) k= 0 Where e(n) = u(n) y(n)and y(n) is the reference input.

Accelerometer We will put power across the chip and measure the outputs with an oscilloscope and search for the error that may be associated with the device on each of its axes. Three-Axes Mount We need to measure the change in position that occurs when a motor controlling one of the three-axes (pan, tilt, and roll) reaches the limit of its range of motion. At these points, we will measure the accelerometer output to determine if it has its full range of motion. Tolerance Analysis We need to be absolutely certain that the relationship of the degrees of rotation on each axes from the Nun chuck are directly proportion to the output speed of the motors. This is important because a critical part of our project is that the Nun chucks have variable speed control over the three-axes of movement on the camera mount. To determine our accuracy, we will compare two graphs (each obtained using an oscilloscope). The first plot will be voltage vs. motor speed; and the second plot will be voltage vs. the angle of the Nunchuck. These plots will allow us to model the relationship between the Nunchuck and the motor(s) and verify that we have variable speed control for the robotic camera. Physical Component Layout Standard Nun chuck Modified Control System

Controller Layout Base Control This component will have the standard look and feel of the Wii Nun chuck but will not make use of the accelerometer and will be connected into our modified camera/ robotic head controller. The joystick will control the movements of the platform. The C and Z buttons will allow the robot to enter quick-travel mode and brake respectively.

Robotic Head & Camera Control This component is the modified Wii Nun chuck. There will be the standard output from a traditional Nun chuck using the IC2 protocol, but it will also have additional signals to control more options on the camera. Section 1 controls: zoom (up/down) and dutch angle (left/right) with the joystick; the tilt (up/down) is controlled with the z-axis of the accelerometer and pan (left/right) is controlled with the x-axis of the accelerometer. The use of the pan and tilt is enabled when the Z button is pressed. The C button allows for inversion of the tilt axis control. Section 2 controls: focus (left/right) and iris (up/down) with the joystick; the C button executes a hard home; and the Z button sets/executes a soft home. Mechanical Layout

The above diagrams show the full layout of the Wii Robotic Camera. The Diagram to the right shows the Denavit-Hartenberg convention that our robotic head follows for joint placement. The portion labeled Under Design with the Machine Shop is the same motors/circuitry as the portion it is resting on. The combination of the two robotic heads allows for pan, tilt and dutch angle movement. The secion is currently a black box as we are still determining the best way to combine the two robotic heads (talking with the machine shop about it).

Ethical Considerations After reviewing the IEEE Code of Ethics, safety is certainly a big concern of ours. Our project consists of a large, wireless robotic platform; if for some reason we lost control of it, it could seriously injure someone. Whenever we demonstrate our project, we need ensure that everyone involved/observing understands the proper safety procedures. Additionally, our project will rely heavily on I2C protocol, for the Wii Nunchuck, and we will be basing our code off the work of others. We will properly/accurately accredit/cite the contributions of others.

COST ANALYSIS
Below is a summary of the expected cost for the project: Labor Hours Rate Total Brett 10 hours/week $30/hour $300/week Jim 10 hours/week $30/hour $300/week Mike 10 hours/week $30/hour $300/week Summary Total Labor Part # 30 hours/week 330 hours/semester Description Qty 1 3 3 1 1 2 2 1 2 $90\/hour $30*2.5 $900/week $24,750.00 Total Cost($) $10.00 $60.00 $105.00 $35.00 $50.00 Status Pending Pending Pending Pending Received Received Received Pending Received Pending Pending $322.00 $24,840.00

RB-Ons-01 RF Receiver & Transmitter Pair 62613 Nunchuck RB-Ard-03 Microcontroller (Diecimila) ADXL330 Accelerometer VK82A-ED-LR2.4 GHz Wireless PS79-LARGEVideo Transmitter HOME -Wheels Base -Motors Base (Wheel Chair) Ball Caster 24737 -Robotic Head

Manufacturer Unit Cost Shine $10.00 Nintendo Arduino ADXL X10 JSDC JSDC Acme Panasonic $20.00 $35.00 $35.00 $50.00

Donated Donated Donated Donated $32.00 $32.00 Donated Donated +/- $30 $30.00

Fiber Glass Resin, Minimal Lowes Paint, Bondo Misc. Components Shop from Electronics Shop Totals Total Cost

SCHEDULE
Below is our groups planned schedule for the semester: Week Brett Work on proposal, 15-Sep Research algorithms for controls systems Research algorithms for controls systems Prepare for design review Design software requirements Build case for Wii mote controller Controls Zoom Focus Iris Controls Pan Tilt Dutch PIC Fab /Controller Set up Mockup Algorithm testing Final processing tweaks based on overall performance Thanksgiving Break Work on report Unexpected Fixes Demo Finish Report Jim Work on proposal, Research robotic platform Mike Work on proposal, Work with machine shop to start 3 axis camera mount Work with machine shop on 3 axis camera mount / Hack Wii MOTE Crack Wii MOTE Nunchuck RF receiver/ transmitter circuits Zoom Focus Iris controlling circuits Pan Tilt Dutch controlling circuits PIC Fab. /Controller Set up Mockup Assist in testing final algorithms Ensure project meets performance specs Thanksgiving Break Work on report Unexpected Fixes Demo Finish report

22-Sep

Build/ Update robotic platform Prepare for design review Build foe Wii mote circuit Model/ build circuits of camera inputs Breaking Movement circuit for platform Assist Control Testing Circuits with Controls Sensor Testing Mockup Testing mechanical specs Final tweaks on controlling platform, and elevation sensing Thanksgiving Break Work on report Unexpected Fixes Demo Finish Report

29-Sep 6-Oct 13-Oct 20-Oct 27-Oct 3-Nov 10-Nov

17-Nov

24-Nov

1-Dec