Stage Eight, Week Commencing (16.12.2013)
Week (12), (13)

Description

This session has lasted a little over 2 weeks as I have been busy with Christmas coming up but I have managed to find time to get some work done on this project and dissertation.

Equipment:

3 x Long black metal U brackets (left over from robotic arm kit)
1 x Square Mechano Block
1 x Servo (Mg996r)
1 x L bracket
1 x tilt bracket
1 x Circular Arm Horn
2 x 2mm Brass rods
Milliput
4 x Brass Blocks


This session was spent putting together the neck framework for the Animatronic and attaching the eye mechanism together. I decided to use the U brackets left over from the robotic arm kit and attach them together to make a rectangular shape, I fixed them in place using the pre drilled holes and nuts and bolts. The top of the rectangular frame then fit onto the top tilt bracket of the upper jam mechanism I secured this in place using nuts and bolts and Milliput. I then took a Servo and added a pan and tilt bracket to it with the circular arm horn attached the to servo drive connector, i then attached the L bracket to the middle of the U bracket and attached it to the middle of the rectangular framework. To attach this new framework to the base I had to screw a Tilt bracket on the central platform of the base mechanism, this was simple as it has the pre drilled holed to do so. Attching the new neck framework was difficult though as I had run out of L brackets so I had to improvise using a Square Mechano block which luckily matched the holes in both the tilt bracket attached to the bottom of the base mechanism and the tilt bracket attached to the neck framework. 1.1, (Note the eye mechanism is not attached to the top jaw mechanism and the base unit is not operational, i have just placed these elements together to get a feel for how the build will look when the parts are attached together)

Eyes:

To attach the upper and lower eyes mechanisms together i attached a brass block to the end of each rod. I then took the 2mm brass rods and slotted them into the end hole of the brass block connectors.
to keep these in place i used milliput to bond the two sections of each frame together. In addition i also added milliput to the brass blocks on the front eye mechanisms because the screws where coming loose and I had to constantly tighten them hopefully the milliput will stop the screws from turning.

1.2, 1.3

When we where coming back from visiting my parents on Thursday Caroline took this shot of our house in the rain and it struck a Chord with me regarding the Aesthetics of the build. The picture feels cold and industrial and the light emanating into the night gives and unnatural aura against the night sky reflecting the rain drops. 1.4

Feelings

My feelings of this extended session are positive I think that the build is starting to come together and I am pleased with the way all the old and new elements have come together.

Evaluation

This was a good experience considering that some of the parts did not fit together as I had envisaged and I had to find ways of getting them to work together. This is an area of the build I am enjoying the most problem solving and think of ways around issues. I makes the project feel less like its parts cobbled together and more like they have some purpose.

Analysis

The current situation of the build makes sense although the new elements fit together well there may be future issues regarding the stability of the neck framework and how it is attached to the base. I will not be able to fully explore and analyse this situation until I have finished and connected the eye mechanism to the top of the jaw bracket. However for the purpose of the build in its current state this issues causes no problems concerning the testing of the elements.

Conclusion

In conclusion I feel a fair amount of work has been achieved considering the time of the year and other on going projects. I don't feel that anything else could have been done to improve the work done in this session.

Action Plan

If I had to re-do this session I don't think I would have changed much considering what has been achieved however I do feel that further on down the line I will have to alter or strengthen some parts of the framework to make it more sturdy.

1.1

1.2

1.3

1.4

Stage (07), Week Commencing (09.12.13)
Week (11)

Description

After a short period off concentrating on my dissertation I have finally managed to pick back up again from where I left off. I have taken a week off from all the other projects and have dedicated this week to this project. I have been working on the Lip mechanisms.

Equipment.

3 x Micro Servos with 7g or torque each
Guitar Wire.
Brass Electrical Block.
Fishing Wire.
2 x wire connectors

To start with I added the bottom lip onto the project, it was more difficult to install compared to the upper lip as I had no framework to put it on as I did with the top lip. So I had to attach the lip to the Servo U bracket of the bottom jaw. I did this by making additional holes into the U bracket at each side then taking the two wire connectors and screwing them into place so the guitar wire could be threaded through them. I did the same with the guitar wire as i did with the upper lip and used 1.mm heat shrink on each end and slotted it through the connectors. However there was to much movement in the lip so I had to restrict the movement of the guitar wire by putting Milliput along the side of the wire, attaching it to the side of the bottom jaw mechanism. I then added a brass electrical block to the bottom of the jaw and used milliput to keep it in place this will act as a run for the fishing wire.

I attached the three motors at the same time two to each side of the upper jaw servo tilt bracket and one under the bottom jaw and secured them in place with milliput.
To ensure that the system would work efficiently I tested it using the code I had used In last years build but adapting it to use Analog ports instead of the digital ones (This has also been adapted from the sweeping servo code from Arduino.cc).

#include <Servo.h>
int c=0;

Servo myservo;  // create servo object to control a servo
 // a maximum of eight servo objects can be created
Servo myservo2;
Servo myservo3;

int targ=20;
int targ1=20;
int pos = 180;    // variable to store the servo position
int lippos=0;
int lipup=10;
int lipupinc=10;
int targinc=5;
int mt=10;
int mb=200;

void setup()
{
Serial.begin(9600);
pinMode(A1,OUTPUT);
pinMode(A2,OUTPUT);
pinMode(A3,OUTPUT);
myservo.attach(A1);
myservo2.attach(A2);
myservo3.attach(A3);
}

void loop()
{
while(Serial.available()>0){
targ=Serial.read(); //this reads data in from processing (mousePos)
}
long r=random(20);
if(r>18){
lippos=random(100);
}
long r2=random(20);
if(r2>18){
lipup=random(120);
}
long r3=random(20);
if(r3>16) lipupinc=lipupinc*-1;
lippos++;
lipup=lipup+lipupinc;
if(lipup>120) lipupinc=-10;
if(lipup<1) lipupinc=10;
long r4=random(20);
if(r4>15) targ=random(200);
targ=targ+targinc;
if(targ>mt) targinc=-5+random(40);
if(targ<mb) targinc=+5+random(40);
if(r4>15) targ1=random(200);
targ1=targ1+targinc;
if(targ1>mt) targinc=-5+random(40);
if(targ1<mb) targinc=+5+random(40);
if(lippos>100) lippos=0;
myservo.write(eyeup);
myservo2.write(eyepos);
myservo3.write(targ);
delay(100);
}

Video 1.1

Feelings

I am happy to be getting back on with the project as taking a few weeks off can effect the future progress of a project in this case it hasn't so I'm happy to be getting back on with it. I feel I'm getting that motivation back that i had at the start of the project and I am just spending every available bit of time I have on either thinking about the mechanism or looking at the script or researching the philosophy of A.I.

Evaluation

This session was productive I felt that a lot has been achieved this week, I am pleased with the outcome and how the lips move via the servos. I did not have to go over or re-do any of the processes of this session and the code I adapted worked fine using the Analog ports on the Arduino shield. One of the things I am concerned about is how a set of prosthetic lips may look on the robot. I had an idea of using the wrist cuffs of the end of a pair of black latex gloves for the lips but I do not think this will look right on the project at this stage. The only thing that I really wanted the lips for was so I could think about maybe matching up some of the vowel sounds in words to the phonetic animation speech map so the robot looked like its lips where nothing naturally with the words coming out of its mouth. At this stage I am going to put this on the back burner and maybe return to it later on if I have time.

Analysis

As the project currently stands I am pleased with it and It makes sense in relation to the brief. I have gone back over the presentation to get a feel once again for the direction of the project and re affirm its purpose. I am also going to watch some films with robots in to give me some inspiration on how a robot sits within an environment. On of the possibilities I have ben considering for further on in the build more towards the date of the final show is building a set for the robot to be placed in rather than a table. However this does have its problems like transporting a set, affording that materials and time issues, I will come back to this idea later on in the project when I may have a little more time to consider it.

Conclusion

In conclusion, the project is back under way again I am happy with where it is at and I am looking forward to getting further on with the build. The lips do look really good when they are functioning, I posted a video up on Facebook of it to see what people reactions to it where and it was really positive, and it did freak a few people out which is always a bonus so thats another positive outcome of this session.

Action Plan

If I had to re-do this session again I do not think I could have done anything differently during this weeks session. Next week I want to start thinking about building the neck mechanism out of the aluminium brackets I have left over from the robot claw kit. I think this will be a really easy part of the project at the parts where made to do the movements I want to achieve for the neck motion. I have seen the servo brackets used on camera set-ups to capture motion so I am going to have a look at this also and see if I can add something similar into future projects.



1.1

Stage (06) Week Commencing 18.11.13
Week (06)

Description.

This week has been heavily dominated via my dissertation so there has not been much progress in terms of getting on with the physical build of the project. However I have been experimenting with the Kinect libraries using processing. 1.1, 1.2

However I have yet to find the skeleton tracking library I think i will need for the project so for now I am leaving the project for this week.

Feelings.

I feel like for the first time progress may have to slow down for this project as I concentrate on my dissertation. I am not partially concerned about any of the elements but I just feel deflated after doing all the research and feeling motivated from last week.

Evaluation.

A positive elements form this session was playing around with the Kinect libraries I feel that they will play a major role within the project when I managed to find the time to sit down and go through the codes. A negative element is feeling that i can't get on with what I want to because of time issues.

Analysis.

Understanding the current situation of the project is important to picking back up on it either next week for the following few weeks. I am hoping that it will be easy to pick up from where I am leaving it.

Conclusion.

In conclusion I am happy where the project currently is and I understand that other work needs to be done within the time frame a scheduled for this project.


Action Plan.

none

1.1

1.2

Stage (05) Week Commencing (11.11.13)

Week (05)

Description

This week was spent planning my presentation due on the 15th (Fri) as part of the planning for this I have purchased a book 'Palgrave study skills, presentation skills for students' Emden and Becker (2004) I have taken some elements from the book concerning structure and how to deal with nerves. 

Here are the slides from the presentation. 

Feelings

Although I feel nervous about presenting my work to a group of people, many of them from different courses I am looking forward to the challenge. 

Evaluation

Doing further research for this project has strengthened it's meaning and purpose. I now feel that I have enough knowledge to get my point over to the group of what is the meaning behind the project.

This has been a good experience as for as the research side of things is concerned but it will be down to the actual presentation to determine how well the ideas get put across to people with little knowledge of the various processes involved in this project.

Analysis

The current position of the project in relation to all the elements I think in currently the strongest it has been so far. I am hoping to get that across to people in a clear way.

Conclusion

In conclusion this session was very refreshing, taking time away from the physical build and concentrating on the written philosophical elements has been very beneficial and will hopefully aid in the progress of the project over the next few weeks.

Action Plan

If I was to re-do this session I don't think I would have changed anything the work will be tested on friday and I will post and addition to this blog over the weekend.

ADDITIONAL.

The presentation went ok in terms of getting what I needed across but I felt that the delivery could have been better, this is an area that needs to be developed for future application.  

Stage four : Week Commencing 04.11.2013
Week (04)

Description

This week I have been working on implementing a lip mechanism onto the side of the jaw mechanism, Due to time constraints regarding other projects I have not tested the left - right jaw movement front he previous session.

Equipment.

1. Guitar Wire

2. Fishing Wire

3. Mechano Plate, Long (Bent to make semi-circle), 1 x long U bracket and 2x Smaller 3 hole brackets.

4. Metal connectors from Electrical Block (4.mm)

5. 1mm Heat Shrink

6. 2 x metal wire holders.

First of all I took the Long Mechano plate and bent it around the heel of a boot to create a semi-circle shape. I then attached the two smaller brackets at each end and screwed them onto the long U shape bracket and attached this to the side of the tilt bracket of the top servo. I then cut out the brass connectors out of an electrical block and using small screws and large metal watered attached the brass connectors to the Long bent Mechano plate. This would allow the fishing wire the be threaded through it to control the lip functions. I then attached the wire holders to the bottom of each of the smaller brackets. I then took the guitar wire cut it to size and on each end moulded some 1.mm heat shrink and threaded the circular stoppers off the end of the guitar sting wire back through the guitar string so I had two runners to attach the fishing wire to the guitar wire. This was then threaded through the wire holders and kept in place by squashing the metal holders with pliers. This fishing wire was then secured with knots to the runners and I was able to get a sense of how the lips would look if they had servos rigged up to them. 

After reflecting back over the project a day or so later I have decided that I do not need 3 points of articulation for the lip mechanism the impractiatly of fitting a third servo into the centre of the top mouth mechanism is unnecessary and this space could be used for other elements later on in the build. (1.1)

Feelings 

I feel that this session has been successful and I am happy with the progress that has been made even though I feel I could have done more this week, I am still concentrating on other on going projects also.

Evaluation

I feel this experience has helped bring in another element into the project as far a creating expression for the character, however I need to figure our where these extra elements sit in terms of relating them to the brief and how I envisage the final outcome of the project. 

Analysis

As the project sits making sense of all the elements in terms of its relation to the brief as a guide needs to be reassessed. The idea of this project is not to go too far off the rails as far as the animatronic as an object is concerned the simple stripped down nature of the object needs to remain intact in relation to the de-humanistic vision of the final outcome. 

Conclusion

In conclusion more could have been done this week in terms of thinking about how the piece will sit concerning the outcomes of the brief and relation to the philosophy behind the idea. I hope to clear these concerns up next week when I am preparing my first presentation of this project. 

Action Plan

If I was to re-do this session I don't think I would change that much concerning the build, but I would have put more effort into thinking about how I am relating the physical build to its philosophical written counter part. Next session will be about the philosophy behind the project and how it relates to my brief. 

1.1

These are examples of some of the mask prototypes I have drawn up using Z-Brush. I am unsure of what direction to go in with the theme at this current time so I am just experimenting using different textures and looking at possible materials.

_{Stage three: Week Commencing 28.10.2013}

_{Week (03)}

_Description:

_{This week the rotating base arrived, It one of the elements I have taken from a robotic arm Kit. Here is a list of parts that came with the kit.}

No	Accessory	Number
1	Metal clamp holder AS-6DOF	1
2	Metal multifunction servo stander	4
3	Metal long U stander	3
4	Metal L stander	1
5	Cup type bearing	3
6	Large thrust ball bearing	1
7	High precision metal servo TR213	4
8	High performance servo TR205	2
9	High quality servo extension cable	3
10	Metal Chassis for Robot Arm	2
11	Controller mounting plate	1
12	M3*8 with flanch screws	enough
13	M2.5*6 screws	enough
14	M3 nuts	enough
15	M3*6 Screw	enough
16	High quality copper fixed leg  M3*5	8
17	High quality copper fixed leg M3*25+6	4
18	High quality copper fixed leg M3*20	4
19	White binding wire	≥5

 _{Full pic of arm 1.1 - out of the box 1.5}

_{Putting together the base elements is proving tricky because the instructions it came with are in Chinese and I cannot find any alternatives online, luckily the base element is all I require right now so I do not have to worry about the other parts.}

_{After a bit of fiddling around and putting bits in the wrong place I have managed to cobble together the base componants. I have fitted a metal gear (mg966r) servo into the base plate and the action is smooth and I am happy the the servo will generate enough torque at 6v 2a compared to the servos it came with the are of a higher torque and require more voltage, I am to keep all the servos running off a singular power unit.}

_Mouth:

_{I have changed the mouth mechanism to incorporate left and right jaw movement, I did this by altering the top jaw mechanism. Keeping the lower jaw set up the same I removed the L bracket and U bracket and Instead placed a servo directly on top of the tilt unit using a circular servo arm connector (1.2) this has given me the left and right jaw movement I require, however I have not yet tested the action of this new element.}

Eyes

Equipment:

4 x 3mm metal rods
4 x brass block connectors
2mm wire
4 x small plastic servo arms

To start with I cut the ends off the servo arms and embedded them into the back of the eye sockets using Milliput and i let that dry under a heater. i then took the two metal rods and attached the brass block connectors to the end of them securing them in place with screws. I then made small loops with the 2mm wire by bending them around the tip of my pilers to make sure that they where all the same size curves. I then hooked them around the servo arms embedded in the Milliput at the back of the eyes and pinched the ends together. I then put the pinched ends into the brass blocks and secured them in place with a screw.  1.4. 1.1.4

Additional:

Another pair of eyes also arrived this week that I purchased from china, however these are not of a good quality and will not be used for this project. I also ordered another 'claw' off the internet because I thought if the project develops quickly I may add the top part of a torso and arms to the project at a later date. (1.5)

_Feelings

_{My initial confusion concerning the non-english instructions has passed and I am now happy with how the build has progressed this week. I feel that I have achieved a fair amount of progress and that taking the new approach in designing multiple animatronic frameworks for different individual mechanisms has been more successful than designing just one and implementing it.}

_Evaluation

_{This week’s session has been very useful in testing out new design approaches and also working with new equipment that I was initially unsure of. Having spent time looking over the components that have been left over from the robotic arm kit I feel that they will become very useful later on in this project and may also be useable for other projects. Overall I have enjoyed this stage even the difficultly with the instructions and having to guess and test where parts fitted was not a bad experience.}

_Analysis

_{This week brought both old and new elements and into the project making sense of how these new components will interact will be important when looking at the future progress of the build.}

_Conclusion

_{In conclusion I feel that a lot has been achieved but there is still room for improvement when it comes to planning and testing new elements. I feel that I should have not attempted to put the base together without first testing the jaw mechanisms and finishing that section of the build before moving onto the next. This is how the parts look now as the stand positioned together but not fixed. (1.3) I have also drawn up a sketch for how the neck mechanism may go together (1.6) but this is still a draft.} 

_{Action plan}

_{Next session I will look at how the elements will work together and test the new jaw mechanism using code. If I had to re-do this weeks session I would have finished testing the jaw mechanism fully before assembling the base unit.}

_1.1

1.2

1.3

_1.4

1.1.4

1.5

1.6