University of Florida Intelligent Machines Design Laboratory “Gargo” Student Name: A.Erdem Altunbas Date: 17 April 2007

Summary Introduction Integrated System Mobile Platform Actuation Sensors Behaviors Gargo 17 April 2007

Introduction The purpose of the robot is to measure the dimensions and weight of the box and with the destination address it will calculate the cost of the shipment and display the result to the customer. The robot will also write the destination address, dimension and weight information into an RFID tag and put the packet onto the appropriate place considering the destination address Gargo 17 April 2007

Integrated System Atmega128 RFID Reader LCD H-Bridge Driver DC Motor #1 DC Motor #2 Bump Switches Photoreflectors Sonar Servo Motor Force Sensing Resistors Laser Pointers Figure 1: Block Diagram of the overall system Keypad Gargo 17 April 2007

Mobile Platform Gargo 17 April 2007

Actuation 12V, 120rpm with 8.8 kg-cm stall torque DC motors 4.8V-6V with 57 oz-inch torque servo motor Sabertooth 2X5 R/C Regenerative Dual Channel Motor Controller has dual motor controllers with 5 amps maximum current. Gargo 17 April 2007

Sensors-1 Bump Switches: Two bump switches are used to detect obstacles Laser Pointers: Three sets of laser pointer arrays are used for each dimension to detect the dimension on that axis Force Sensing Resistors (FSR): Four force sensing resistors for measuring the weight of the box Photoreflectors: TCRT 5000 IR reflectors are used as Tracker Sensor, the output pins for right , middle and left reflectors are controlled by the Mavric-II. Gargo 17 April 2007

Sensors-2 RFID Reader Alien ALR-9780 Gargo 17 April 2007

Behaviors Gargo has several behaviors; (1) waits for the push button input to get the destination address (Gainesville, Florida or out of state) and start information (2) measures the dimension of the box and decides if it is big, small or smaller. (3) measures the weight of the box and decides if is heavy, light or lighter. (4) writes dimension, weight and destination address information to the RFID tag (5) obstacle detection (6) line tracking (7) push the box to the corresponding place in the destination area. Gargo 17 April 2007

Thank you Questions ? Gargo 17 April 2007