ECE 477 Design Review Group 10  Spring 2005 I, Robotic Waitress Kevin Muthuri Jer-Wei Lam(Sean) Jacinto Chang Ming Sum Wong Team Lead Web: http://shay.ecn.purdue.edu/~477grp10

Outline Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation Preliminary PCB layout Software design/development status Project completion timeline Questions / discussion

Project Overview Robotic Waitress project Deliver food to designated table autonomously Comprises of two major components – robot and control center Tables’ coordinates file stored on the PC allows remote control of the robot from control center Robot’s navigation algorithm enables smart table-to-table navigation Avoid obstacles using IR sensors

Project-Specific Success Criteria Ability to control robot motion wirelessly w/ control center using RF Ability to avoid obstacle collision in the robot’s path using IR sensors Ability to display robot status on LCD display Ability to navigate using tables’ coordinates file that can be updated Send alerts from robot to control center wirelessly using RF

Block Diagram

Component Selection Rationale Microcontroller – ATmega32 LCD – Hitachi controller based PWM driven modified Servo motor Digital Sharp GP2D15 IR Sensor 418Mhz 315Mhz RF Tx/Rx Power Supply – 4.8-6v Servo Power Supply – 5v to board Control Center – 9v wall adaptor/batt

Packaging Design Robot: Mark III Robot Chassis 2 Wheels, wedge for support Bright RED wheels 8 inch-diameter round tray Custom mount for LCD display Robot base approx 5” X 4” Control Center: RadioShack Project Box Size approx 3” X 2” X 1”

CAD - Packaging

Schematic/Theory of Operation Overview of Main Module Schematic

Schematic/Theory of Operation

Schematic/Theory of Operation

Schematic/Theory of Operation LINX TXM 418/315 LC LINX RXM 418/315 LC-S

Schematic/Theory of Operation

Schematic/Theory of Operation Control Center Module

Preliminary PCB Layout

Software Design Overall Functionality: Provide a user-friendly interface to monitor the status of the robot and to instruct the robot Able to generate a set of instructions to guide the robot to the designated table(s) Allow user to set locations of the tables Able to re-route the robot from its current location

Development Status Software Development Status: Completion of user interface and navigation algorithm Ability to send and receive data through serial port Ability to load the tables’ coordinates file Hardware Development Status: Chassis completed and tray modified Working LCD , sensors Movement functions (i.e. forward, back, left, right)

Development Status Screenshot:

Project Completion Timeline Before Spring Break (Week 8 & 9) : Finish the PCB layout Test tilt sensors and finish motor control program Program the microcontroller for communication with the software Test direct communication between the software and the microcontroller without RF Week 11: Communicate between the software and the microcontroller with RF Finish the coding of the software and hardware Week 12 & 13: Complete testing and debugging the project in real environment Week 14: Finish the packaging and user manual

Questions / Discussion