Task description

In 2023, TUHH will participate in the creation of the new Ligeti Center. The Ligeti Center is an interdisciplinary transfer center that combines the fields of art, medicine, applied science and technology, and is located in the harbor of Harburg at Veritaskai 1. In order to combine art and science, we would like you to create an innovative robot capable of interpreting music to create a work of art. The robot will be used as a showcase and must perform autonomously while a piece of music is played. Each music should result in a unique painting and it should be possible to show how the robot interpreted the music. For convenience, the surface of the painting will be a simple cotton stretched canvas (60 x 80 cm). It should dry in a reasonable amount of time for transportation after the show. Since the robot will be used in the presence of the public, it must remain safe at any point in time and its use of paint must be sustainable. The robot should be able to be prepared for action in a maximum of 10 minutes and must be transportable by one person. Energy supply will be provided if required, no external control is intended during the performance. The total budget per robot for purchased parts and prints in the WorkINGLab is 400 EUR.

Results

Video:

Solutions

	Group A	Group B	Group D	Group E
Mechanical design	Gantry mechanism	Gantry mechanism	Gantry mechanism	Parallel kinematics
Painting mechanism	3 Brush pens Pushed one by one by a motor	3 constant colors: 2 rollers with acrylic paint 1 marker	Brush & paint palette (8 different colors)
Hardware - Motors	4x 17HS3404 NEMA17 Two Phase Stepper Motor, 12V, 0,4A	1x Stepper Motors QMot Stepper Motor, 42mm, 0.49Nm, 1.0A, 51mm length 1x Stepper Motors QMot Stepper Motor, 42mm, 0.27Nm, 1.0A, 35mm length 1x Servo Motor 426-SER0050	2x ACT 17HS4417P1X4 Hybrid Stepper Motor NEMA 17 1.8° 1.7A 2.6V 1x 9g servo motor	2x NEMA17 GEAR STEPPER MOTOR-07GM NEMA17-07GM 0.44 Nm 1.68 A Wellen-Durchmesser: 8 mm 1x Kontinuierliche Rotation DC-Motor Servomotor
Hardware - Microphone		Renkforce RF-MIC-510 USB microphone with hard carrying case	Renkforce UM-80 USB microphone wired incl. cable	Renkforce UM-80 USB-Mikrofon Kabelgebunden inkl. Kabel
Hardware - Boards and drivers	2x Microphone breakout board I2S 4x StepDir UART Stepper Motor Driver TMC2209 1x Relais Board 5V, Switching 28V DC 10A	1x DEBO MEMS MIC Breakout board with I2S MEMS microphones 1x Stepper Motor HAT 485-4280 1x Servo Motor HAT 485-2327	2x ACT DM420 Stepper Motor Driver for NEMA 17, 12 - 36 V	2x ACT DM430 Stepper motor driver, 12 - 32 V, 3 A 1x 20W ADJUSTABLE DC-DC BUCK CONVER
Music interpretation	FFT → Frequency domain → average frequency Time domain → amplitude Low-pass filter on amplitude → react to trends in music Dynamic reaction to signal history Output difference to previous average and scale between min/max (updated along the music) X movement, Y movement, color change	Pitch analysis: Analog → digital → FFT Every 7s: calculate RMS of amplitude → normalized value → Plots: Vertical axis: normalized pitch Horizontal axis: time → Extracts points from the curve → straight lines 3 constant colors	Idea 1: Firework Frequency → musical note → color Amplitude → loudness → stroke length Idea 2: Flower bouquet Coordinates assigned to unique note with color Stroke length based on Octave number Stroke direction randomized in 360° Idea 3: Shapes	Base: circle, radius increases at each incrementally
Result