Final Presentation EEL 5666C INTELLIGENT MACHINES DESIGN LABORATORY APRIL 12th, 2005 Cliff Pannella Robot: “DICE”

Outline / Overview : OBJECTIVES THE ROBOT: WHAT WENT WRONG CONTROLLER PLATFORM MOVEMENT SENSORS METHODS WHAT WENT WRONG

Objectives: Roll the dice Locate the dice Position the dice properly Read values Calculate win or loss Win: 2,3,4,5,10,11,12 Loss: 6,7,8,9 Repeat

Controller: MAVRIC-II Board Power board: (Eagle v4.14) Regulated to 5V ATMEGA 128 Microcontroller Power board: (Eagle v4.14) Regulated to 5V

Platform:

Movement:

Sensor Suite Includes: Bump Sensors Obstacle Detection Infrared Sensors Obstacle Avoidance Object Searching/Confirmation Photoreflectors Value Detection

Bump Sensors Placement:

Infrared Sensors: Placement:

SHARP GP2D120 INFRARED OBJECT DETECTOR (Shorter Detection Range: 4 cm-30 cm) Output Voltage (V) Object Distance (cm)

P5587 HAMAMATSU PHOTO IC DIGITAL OUTPUT PHOTOREFLECTOR Circuit:

Dice-Reading Algorithm Template: Start with most straight-forward method: 5 and not (1,2,3,4,6,7,8,9) This is very inefficient, and not cost-effective at all

Method:. 5 Photoreflectors for each die. Minimum amount necessary to Method: *5 Photoreflectors for each die *Minimum amount necessary to ensure proper read *Explained in following slide

Dice-Reading Algorithm 5 AND NOT 1,3 (1,3) AND NOT (4,5,8) 1 AND NOT (3,5) OR 3 AND NOT (1,5) (1,3,5) (1,5) AND NOT 3 OR (3,5) AND NOT 1 (1,4) OR (1,8)

Probabilities 36 possible rolls 2: 1 chance 8: 5 chances 3: 2 chances 9 : 4 chances 4: 3 chances 10: 3 chances 5: 4 chances 11: 2 chances 6: 5 chances 12: 1 chances 7: 6 chances Wins: 1+2+3+4+3+2+1 = 16 16/36=44.4% Losses: 5+6+5+4 = 20 chance of winning

Special Sensor (x2) Design done using Eagle Software (Version 4.14)

Assembled Special Sensor Board:

P5587 HAMAMATSU PHOTO IC DIGITAL OUTPUT PHOTOREFLECTORS Output Voltage (V) Distance (mm)

Methods/Software: Incremental Development Circle playing area searching for die; Use Obstacle Avoidance Functions Verify proper storage of die; find the remaining one and do the same Calculate values using special sensors

WHAT WENT WRONG? Rolling the dice As of now:

WHAT WENT WRONG (cont’d) Estimation/Time Allocation Murphy’s Law No Laptop

THE END Place your bets!