The presentation in Bahir Dar University, Bahir Dar, Ethiopia. About personal project of making a robot. This version is including the script Inserted Movie Clip : An Introduction to the Arduino : http://youtu.be/CqrQmQqpHXc Detect Train and Close Window with Arduino and Webcam : http://youtu.be/aBhF_qfG4Qc Drive 10 Servos with 2 Arduino Pins : http://www.youtube.com/watch?v=FbyjNPC6SxI Arduino XBee & PS2 Controller & Servo Motor Test : http://youtu.be/BoXzik46LyI

1. MAKE YOUR OWN DEVICE
Park Ki-hyeok From KOICA
Hello, I am glad to see you. My name is Park Ki-hyeok. I’m a volunteer from KOICA, Korea
International Cooperate Agency. I’ve work in computer engineering department since last
July. I started a project from last November. It’s making a Robot project. Actually, I just take
the project from the student in electronic engineering department, and the goal was just
improving it. Like adding the dancing motion.[do ethiopian shoulder dance](laugh)
Anyway I did the project 6 months, and unfortunately, it was not successful. But I feel
something, and study something. That’s why I open the seminar today.

2. CONTENTS
1.Introducing Arduino
2.Introducing Previous Project
3.My Project
4.Conclusion
The seminar will flow like this.
At first I’ll introduce the Arduino.
And look what the student did.
After that I will show you the project what I did. This is main dish, don’t miss it.
And finally conclusion with some of my suggestion.

3. ARDUINO
What it is and what it can
Is anyone knows Arduino? Raise your hands.
=>if lots : Oh, pretty much. Okay, but some are don’t know what it is. So, I introduce it.
=>if less : Okay, not so much. But don’t care that’s why I introduce this.
Let’s see what it is and what can we do with the arduino.

4. ARDUINO
• Open-source electronic prototyping
platform
• Good at making interactive machine
• For anyone interested in creating
interactive objects or environments
Arduino is an open-source electronic prototyping platform.
It is open-source, so you can do anything with the arduino. Cost is only material prices.
No patent cost, No license cost.
And it is Good to making interactive machine. In next slide, I will show some examples of
using Arduino.
All over the world many people making their own objects or environments by themselves with
arduino.
After prototyping with arduino, you can make your own circuit board with experience of
prototype.

5. EXAMPLES
Now, let’s see what can we do with arduino.
I found a Video clip on youtube.
produced by the magazine named “make”.
So at first let’s watch the movie.

7. How was the video?
I’m not here for selling the arduino or the magazine.
Just show what can you do with arduino.
This is another example of using arduino.
The man live near from train rail.
For that reason when train is coming, it makes loud noise.
And... He make a device for automatically closing window.
When train is coming, the web cam detect it and send signal to arduino.
Then arduino close the window automatically.

8. PREVIOUS PROJECT
Previous project which is done with a BDU student
This is another project with arduino in this university.
It is previous one of my project.
The electronic engineering department student made a 2-legged walking robot with arduino
and several servo motors.
That is his robot. Right now, it doesn’t connected with any power and processor, but some
monthes ago, it was connected with power supplies and arduino and so on.

9. WHAT HE USED
Let’s see what he used for the project.
A arduino. I believe that now everybody knows what it is.
and a bread board for connecting the wires.
A test board for making servo motor socket.
Multiple power supplies for supplying power to servo motors.
and.... A program named ‘labView’.
LabVIEW is electronic simulating program. He used it for making code and user interface.
With these kinds of stuff, how he did?<click>

10. WHAT HE USED
• A arduino
Let’s see what he used for the project.
A arduino. I believe that now everybody knows what it is.
and a bread board for connecting the wires.
A test board for making servo motor socket.
Multiple power supplies for supplying power to servo motors.
and.... A program named ‘labView’.
LabVIEW is electronic simulating program. He used it for making code and user interface.
With these kinds of stuff, how he did?<click>

11. WHAT HE USED
• A arduino
• A bread board
Let’s see what he used for the project.
A arduino. I believe that now everybody knows what it is.
and a bread board for connecting the wires.
A test board for making servo motor socket.
Multiple power supplies for supplying power to servo motors.
and.... A program named ‘labView’.
LabVIEW is electronic simulating program. He used it for making code and user interface.
With these kinds of stuff, how he did?<click>

12. WHAT HE USED
• A arduino
• A bread board
• A test board
Let’s see what he used for the project.
A arduino. I believe that now everybody knows what it is.
and a bread board for connecting the wires.
A test board for making servo motor socket.
Multiple power supplies for supplying power to servo motors.
and.... A program named ‘labView’.
LabVIEW is electronic simulating program. He used it for making code and user interface.
With these kinds of stuff, how he did?<click>

13. WHAT HE USED
• A arduino
• A bread board
• A test board
• Multiple Power Supplies
Let’s see what he used for the project.
A arduino. I believe that now everybody knows what it is.
and a bread board for connecting the wires.
A test board for making servo motor socket.
Multiple power supplies for supplying power to servo motors.
and.... A program named ‘labView’.
LabVIEW is electronic simulating program. He used it for making code and user interface.
With these kinds of stuff, how he did?<click>

14. WHAT HE USED
• A arduino
• A bread board
• A test board
• Multiple Power Supplies
• A program named ‘LabVIEW’
Let’s see what he used for the project.
A arduino. I believe that now everybody knows what it is.
and a bread board for connecting the wires.
A test board for making servo motor socket.
Multiple power supplies for supplying power to servo motors.
and.... A program named ‘labView’.
LabVIEW is electronic simulating program. He used it for making code and user interface.
With these kinds of stuff, how he did?<click>

15. *add diagram(flow chart) and drawing of the setting
Actually, when I meet him, I don’t have the idea of taking picture of the settings. For that
reason, I draw it.
There were many power supplies and they were connected with the robot. The robot was
connected with arduino and arduino was connected with computer.
The computer screen is LabView program.
With the LabView, you can make your own panel. For instance, there are integer input area.
When you input the degree of the servo motor’s angle and launch, The servo motor will be
changed the angle.

16. PROBLEMS
• Needs many power supplies.
• Not stand alone.Wired.
• Controlled by computer.
*problem image animation
I founded some problems, which can be improved.
At first, it connected with many power supplies.
I remember that there were about 10 power supplies for supplying power to servo motors.
For that reason, the robot cannot move freely.
*click
Also there are lots of devices linked with the robot, such as power supplies, computer and so
on. Because of them, the robot can not be stand alone.
*click
And it controlled by computer. If the computer is disconnected, the robot will be dead.

17. PROBLEMS
• Needs many power supplies.
• Not stand alone.Wired.
• Controlled by computer.
*problem image animation
I founded some problems, which can be improved.
At first, it connected with many power supplies.
I remember that there were about 10 power supplies for supplying power to servo motors.
For that reason, the robot cannot move freely.
*click
Also there are lots of devices linked with the robot, such as power supplies, computer and so
on. Because of them, the robot can not be stand alone.
*click
And it controlled by computer. If the computer is disconnected, the robot will be dead.

18. PROBLEMS
• Needs many power supplies.
• Not stand alone.Wired.
• Controlled by computer.
*problem image animation
I founded some problems, which can be improved.
At first, it connected with many power supplies.
I remember that there were about 10 power supplies for supplying power to servo motors.
For that reason, the robot cannot move freely.
*click
Also there are lots of devices linked with the robot, such as power supplies, computer and so
on. Because of them, the robot can not be stand alone.
*click
And it controlled by computer. If the computer is disconnected, the robot will be dead.

19. PROBLEMS
• Needs many power supplies.
• Not stand alone.Wired.
• Controlled by computer.
*problem image animation
I founded some problems, which can be improved.
At first, it connected with many power supplies.
I remember that there were about 10 power supplies for supplying power to servo motors.
For that reason, the robot cannot move freely.
*click
Also there are lots of devices linked with the robot, such as power supplies, computer and so
on. Because of them, the robot can not be stand alone.
*click
And it controlled by computer. If the computer is disconnected, the robot will be dead.

20. MY PROJECT
To improve the previous project
Then, let’s see the my project.

21. PLAN
•September
Order the materials
•October
Arrive the materials
•November
Design, Cutting,Assembling
•December
Programming and Finish
This is my original plan for making robot, but there were some problems.
So actual process became like this.

22. PLAN
Order the materials
Robot Design Sketch
Finding the materials
Making Robot Frame and Assembling
Test Plan 01 (TIP120)
Test Plan 02 (Decade Counter 4017)
Test Plan 03 (Master-Slave)
Making Controller
Test and Trouble Shooting
2012/092012/092012/092012/09 2012/102012/102012/102012/10 2012/112012/112012/112012/11 2012/122012/122012/122012/12 2013/012013/012013/012013/01 2013/022013/022013/022013/02 2222
This is my original plan for making robot, but there were lots of problems.
So actual process became like this.

23. PLAN
Order the materials
Robot Design Sketch
Finding the materials
Making Robot Frame and Assembling
Test Plan 01 (TIP120)
Test Plan 02 (Decade Counter 4017)
Test Plan 03 (Master-Slave)
Making Controller
Test and Trouble Shooting
2013/012013/012013/012013/01 2013/022013/022013/022013/02 2013/032013/032013/032013/03 2013/042013/042013/042013/04
This is my original plan for making robot, but there were lots of problems.
So actual process became like this.

24. ORDERED STUFFS
• TIP120Transistor
• Arduino Uno
• Xbee Network Chips and Shields
• Micro Servo Motors
• Wires
• Pin Sockets
• Test Boards
These are what I ordered.

25. TEST PLAN 1
• UsingTIP120 transistor, set up like LED matrix
*insert LED matrix diagram
At first, I thought if servos were connected like LED Matrix, it would work.
However(*click) servo motor operated with PWM signal and the transistor switch can not
make it.

26. TEST PLAN 1
• UsingTIP120 transistor, set up like LED matrix
*insert LED matrix diagram
At first, I thought if servos were connected like LED Matrix, it would work.
However(*click) servo motor operated with PWM signal and the transistor switch can not
make it.

27. TEST PLAN 1
• Transistor can not be a switch with servo motor
*insert LED matrix diagram
At first, I thought if servos were connected like LED Matrix, it would work.
However(*click) servo motor operated with PWM signal and the transistor switch can not
make it.

28. TEST PLAN 2
• Using 4017 decade counter for controlling multiple servo
The first try was failed.
So, I researched for controlling many servos with one arduino.
And I found this. The 4017 Decade counter.
If I can use this, that’s best. like this movie clip.
But, unfortunately, I don’t have enough knowledge and experience with decade counter,.

29. TEST PLAN 2
The first try was failed.
So, I researched for controlling many servos with one arduino.
And I found this. The 4017 Decade counter.
If I can use this, that’s best. like this movie clip.
But, unfortunately, I don’t have enough knowledge and experience with decade counter,.

30. TEST PLAN 2
• I don’t have enough knowledge for using 4017 decade counter
The first try was failed.
So, I researched for controlling many servos with one arduino.
And I found this. The 4017 Decade counter.
If I can use this, that’s best. like this movie clip.
But, unfortunately, I don’t have enough knowledge and experience with decade counter,.

31. TEST PLAN 3
• Using two arduino and making master & slave system
*insert master and slave concept
So, I should use the final plan, Master-N-Slave.
The controller send the command to this xbee chip, then xbee send it to master arduino.
The master arduino is connected with upper part servos, arm joints. So, arms are moving.
At the same time, the master arduino send the command to the slave arduino.
And the slave one is connected with lower part servos, leg joints. So, legs are moving.

32. DESIGN
•Paper Sketch
•CAD
•Making Blueprint
•Drawing on the sheet
•Cutting
•Folding and Assembling
And now let’s see how did I design the robot.
This is my process of the designing robot and assembling it.
First of all, sketching on paper.
Based on that sketch, make the CAD model.
From the CAD model, get blueprint.
Copying the blueprint on the material sheet. In this project, aluminum sheet.
Cut it and fold it and assemble it.

33. These are my paper sketches.
That one is related with the construction of robot.
And those are for programming. What degree will be need to the robot operating.

34. CAD
• Computer Aided Design
• Solidworks 2010
• Making 3D Model
• Blue Print Available
And CAD
It stands for Computer Aided Design.
Many field use the CAD. Such as mechanical engineering, building construction, industrial
engineering and etc.
There are many CAD software like Solidworks, CATIA, AutoCAD...
And I used Solidworks 2010.
With the CAD you can make 3D model of the product and also from the model you can get
the blue print.
In Korea, there are many commercial mechanical cutting shops.
If I send the CAD Blue prints to them, then I can get cut materials easily.
But, unfortunately, not in here, Ethiopia.

35. This is my CAD model of the robot.

36. And from the CAD model, I can get the blueprints.

37. And from the CAD model, I can get the blueprints.

38. MATERIALS
• No material shop
• Need to find alternatives
• Hard to handle the materials
• No CNC cutting shop
Materials.
It was also one of the hard part of the project.
There is no professional material shop. Meaning for small and sensitive devices.
For example, for assembling the robot, I needed 2mm bolts and nuts. However, it’s hard to
find. So, I should find alternative materials. I used screws of old cassette tapes.
And I already said, there is no cutting shop.

39. This is the aluminum sheet with the blueprints.
I manually copied the blueprints on the sheet, and cut it.

40. From that cut blueprints, bended and assembled.
This is figure of the robot.

41. From that cut blueprints, bended and assembled.
This is figure of the robot.

42. PROGRAMING
• Using Arduino
• Using 3rd Party Library
• Rough Code : 31,692 bytes
• Final Code : 11,222 bytes
• Optimize is important
I used the arduino software.
And using some libraries.
Arduino uno has limited memory space. Almost 32kb.
At first time I wrote the code, It was almost 32kb. It was too tight.
So I try to reduce the code with using array list instead of multiple variables.
In the end, the final code became 11kb.
When you using the micro controller, optimizing and reducing code is importance.

43. USED LIBRARIES
• Servo.h
• SoftwareSerial.h
• GPSXClass.h (3rd Party Library)
Then, let’s see the libraries that i used.
Servo.h for controlling servo motors.
SoftwareSerial.h for communicate between arduinoes and xbee chips.
And GPSXClass.h for using play station 2 game pad as a controller.

44. SERVO.H
<simple servo.h example code and explanation>
These all things are just sample code.
The arduino code is basically consist of the setup function and the loop function.
When the arduino start up, setup function is executed.
after that loop function loops.
In this code, first of all, in setup function, attaching servo motor on arduino’s digital pin
number 9.
And, in loop function, change the servo motor angle from 0 to 180 degree and back to 0
degree.

45. SERVO.H
<simple servo.h example code and explanation>
These all things are just sample code.
The arduino code is basically consist of the setup function and the loop function.
When the arduino start up, setup function is executed.
after that loop function loops.
In this code, first of all, in setup function, attaching servo motor on arduino’s digital pin
number 9.
And, in loop function, change the servo motor angle from 0 to 180 degree and back to 0
degree.

46. SOFTWARESERIAL.H
<simple SoftwareSerial.h example code and explanation>
This is SoftwareSerial example.
On arduino, there are native serial ports, tx and rx. They are used at communication with the
computer.
But if you use this library, you can make your own serial port with any other devices.
In my project, I connected 2 arduinoes and XBee network chip.

47. SOFTWARESERIAL.H
<simple SoftwareSerial.h example code and explanation>
This is SoftwareSerial example.
On arduino, there are native serial ports, tx and rx. They are used at communication with the
computer.
But if you use this library, you can make your own serial port with any other devices.
In my project, I connected 2 arduinoes and XBee network chip.

48. GPSXCLASS.H
<simple GPSXClass.h example code and explanation>
This is for using play station 2 game pad as controller.
In setup function, this is setting of the game pad.
And in loop function, when you press the button, if functions are detecting it and execute the
commands.

49. GPSXCLASS.H
<simple GPSXClass.h example code and explanation>
This is for using play station 2 game pad as controller.
In setup function, this is setting of the game pad.
And in loop function, when you press the button, if functions are detecting it and execute the
commands.

50. GPSXCLASS.H
<simple GPSXClass.h example code and explanation>
This is for using play station 2 game pad as controller.
In setup function, this is setting of the game pad.
And in loop function, when you press the button, if functions are detecting it and execute the
commands.

51. GPSXCLASS.H
<simple GPSXClass.h example code and explanation>
This is for using play station 2 game pad as controller.
In setup function, this is setting of the game pad.
And in loop function, when you press the button, if functions are detecting it and execute the
commands.

52. CONTROLLER
• Control with wireless network
: Xbee
• PlayStation Controller
• Making own shield
• Using 3rd Party Library[GPSX]
for controller program
This is the controller that I made.
For using wireless network, Setup the xbee chip.
Hacking the play station 2 game pad for attaching it on the arduino.
For easy to using, make own shield for arduino.
And use the 3rd parth library, that you already watched one.

53. This is the game pad.
connected with the arduino and this is the xbee network chip.
And.. it communicate with other side's one. And this arduino is connected with servo motor.
When use the controller, servo motor is moving.

54. TEST ANDTROUBLES
• When power is on, servo motors work like DC motors
• Arduino reset problem
• Lack of expert knowledge
• Hard to find specific things for making
But when I connected all thing, there were some problems.
At first, when power is on, servo motors work like DC motors.
Just rotate one way, not controlled.
And sometimes, arduino get reset.
My major is not electronic engineering. For that reason, I don’t have enough knowledge.
And the last thing is already I said in material session.

55. CONCLUSION
What I get and Suggestion
So, let’s see what I get on this project.

56. CONCLUSION
• No commercial machine cutting place
• Hard to find materials and items
• People do alternative way
• Can be improve with developing this kind of environments
In Bahir dar, there is no commercial machine cutting shop. Or, it hard to find.
And also no material shop for the small devices.
In Korea, when you order the machine cutting, you can get it afternoon.
If one of you open this kind of store or shop, it will be good to improvement of Ethiopia.

57. SUGGESTION
• Make your own device for better life and environment
• Show your idea for everybody
• Make a team with experts of different fields
Finally, I want to suggest some opinions.
Like this.
Make your own device what ever you think for better life and environment.
Share your idea and do it.
Making team is important. Gathering different fields’ persons.

58. You are the ONE
who make the BETTER WORLD
You are the One who make the better world.
Cheer up, and make your own device for the world.

59. ኣመስግናለሁ።
Thank you.

60. Q & A