RAMMBO the Robot Butler RAMMBO the Robot Butler R obert Moroson A ngela Uribe M elissa Jansen M ahdi Moghaddamzadeh B ianca Ragin O ur team (as stated above)

Objectives  Serves snacks/beverages upon request  Find owner location  Obstacle avoidance mechanism  CANDY SHOOTER!!! Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Applications & Advantages  Useful for disabilities limiting ability to walk  Used in offices and at homes to save time  Separate refrigerator unit to load RAMMBO  Served right to your desk, couch, beds, etc… Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Goals  Low  Able to navigate itself  Find signal coming from owner  Move towards signal  Med  Recognize and avoid obstacles  Receive vocal commands  In form of claps  High  Able to carry and shoot candies on command Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Functional Outline. Sending Commands Wireless Transmitter Wireless Receiver Microprocessor Voltage Amplifier Powering Motors Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Constraints  Object sensing system  Powerful RF transmitter and receiver  Efficient program for path finding/rerouting  Cost  Candy shooting system Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Wireless Communication  Xbee 1mW “Series 1” boards  Range = 300 feet  USB programmable  3.3 V’s, 50 mA  250 Kbps data rate  128 bit encryption Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Software

 ATmega2560 microcontroller  Input voltage: 7-12V  54 Digital I/O Pins (14 PWM outputs)  16 Analog Inputs  256k Flash Memory  16Mhz Clock Speed Arduino Mega 2560 Microcontroller Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011Control

Control Wireless Communication Sensors Position Sensing Wheel Control

User Control  Testing commands  0x0: Status  0x1: Rotate Left  0x2: Rotate Right  0x3: Forward  0x4: Stop  User Commands  0x9: Come  0xA: Go away  More for other functions Code Command Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Software Flow  Wait for command  Locate user  Navigate to user  Don’t bump into stuff  Stop Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Software Flow Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011 Sound- Recognition Goal Locator Go Forward Arrival Obstacle Detector Interrupt Await Command Maze- Running Algorithm Select Direction Command User Control Interrupt No Command

Hardware

Sensing Sensing Obstacle Avoidance InfraredPressureUltrasonic Find Caller GPSUltrasonic Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Obstacles  Cliff Sensing  Wall Sensing  Transmitter & Receiver next to each other  Very Inexpensive  Distance Sensing from 3cm to 30cm  More expensive than Infrared  Single Pole Single Throw  Short Circuits when Pressed  Very Inexpensive  Simple to Implement Obstacle Avoidanc e InfraredUltrasonicPressure Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

GPS vs. Ultrasonic Find Caller GPSUltrasonic  Transmitter on Remote  One or Two Receivers on Robot  Price within our budget  Need two  Remote  Robot  Accurate within cm  Accuracy increases price  Not within our budget Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Hardware Flow Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Environmental & Safety Impact  Disposal of parts  2-3 feet tall  Tripping hazard  Risk of it knocking items over if it hits a table Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Operation & Appearance

Movement Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Motors  HT Stepper Motor  Two-phase stepper motor  Suitable for a wide range of motion control applications  High Torque Weight 0.1lbs  Phase Voltage: 2.8V Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Tires  Northern Pneumatic Wheels  8" Tires  Non-marking Tires  250lbs Capacity Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Optical Encoders  Size: 0.48" diameter  Single chip sensing technology  -40 ° C to 125 ° C operating temp  10-bit Analog output  2.6 kHz sampling rate  10-bit PWM output  1024 positions per revolution Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Motor Driver  Chip protects logic chips  Isolate electrical noise  Prevents short-circuits  Diodes give voltage protection  Capacitors reduce electrical noise and provide peak power  Pull-up resistors prevent motor movement during power up/down Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Physical Design Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Division of Labor Physical Design 1 st : Bianca 2 nd : Angie Budget/Schedul e 1 st : Melissa 2 nd : Bianca Power 1 st :Bianca 2 nd : Angie Wireless 1 st : Mahdi 2 nd : Melissa Sensing 1 st : Melissa 2 nd : Mahdi Movement 1 st : Angie 2 nd : Robert Microcontroller 1 st : Robert 2 nd : Mahdi Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Power Up  9V Battery Pack  Motor Driver – 12V  Motors – 5V  Encoder – 5V  Microcontroller – 12V  Xbees – 6.6V  Total: three 9V batteries Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Logistics

Schedule By PDR:  Initial version of users manual written  Create core circuit design  Fill out UROP funding form  Order parts By CDR:  Finish core and peripheral circuit design  First revision of prototype  Software implementation  Finalize body design Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Schedule Milestone 1  Motor and power systems functional  Move through instantaneous input  Command transmitter good for debugging  Programming completed Milestone 2  Obstacle maneuvering  Establish wireless communication  Comes on command  Looks pretty  Full body built Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Functional Gantt Chart Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Planned Budget ItemPurpose Cost (Est.) XBee 1mW Chip (2) Wireless Comm$50 XBee Explorer USB (2) Development Board$50 Atmel Actual Microcontroller $10 Wheels (4)Movement$60 Motors (4)Movement$355 Encoders (4)Motor Control$160 Tax/Shipping $50 Total $735 Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Financial Aid  Donations  Microcontroller  9V Batteries  Robot structure  Funding  3 rd party support  UROP Grant Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Manufacturabilit y & Sustainability  Manufacturability  Accurate Wireless communication  High resolution motors  Body holds weight of other parts  Sustainability  Low power consumption  Reliable parts and processors  Straight-forward debugging Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Questions? Thanks Thanks Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Questions? Thanks Thanks Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011