Robotic Artificial Intelligence Toy (R.A.T.) CPE 4521 Final Design Presentation Presented by Shane R. Bright, Erik R. Brown, Wing-Seng Kuan, Micheal T. Singleton April 24, 2001

Introduction Introduction of Team Theseus Background Project Objectives Timeline Design Specifications Implementation/Testing of Design Conclusion & Demonstration

Introduction of Team Theseus Erik Brown— AI Team Software Development, Web Development, Preliminary Circuitry Implementation Shane Bright— AI Team Hardware Consultant, Web Development, Circuitry Design

Introduction to Team Theseus Micheal T. Singleton— Robotics Team Chassis Design, Final Circuitry Implementation, Final Assembly Wing-Seng Kuan— Robotics Team Circuitry Consultant

Background

Project Objectives The main objective of the R.A.T. is to entertain a pet for an extended period of time without causing injury to the pet, humans, or the surfaces and objects in the area where the toy might be used. Secondary Objectives— Healthy Exercise for Pet Durability Customer Satisfaction

Timeline 1/10/2001 – First meeting, established boundaries, outline for the semester 1/22/2001 – Adopted OOPic as microcontroller for project, first chassis design failure 2/14/2001 – MiniZ Race Car chassis adopted as RAT body 2/27/2001 – Critical Design Review 3/24/2001 – OOPic and sonar interfaced, sonar program implemented, chassis assembled

Timeline 4/21/2001 – OOPic program GUIDE v1.1 implemented, correcting flaws in guidance system 4/22/2001 – Motor Controller for chassis completed, initial tests show voltage to be too low to power motors 4/23/2001 – Chassis modifications are made to mount sonar and OOPic devices. Motor Controller prototyping and Voltage Doubler failed in implementation. 4/07/2001 – OOPic interfaced with servo, GUIDE v1.0 was coded implementing servo, motors, and sonar.

Design Specifications Physical Specifications Dimension:5.5” x 2.5” x 2.75” Weight 9V battery : 1.7 Oz Motor Controller : 0.6 Oz Chassis : 6.8 Oz Total : 9.1 OZ Materials : plastic, rubber Power Requirement Body : 6V (4 AAA batteries) OOPIC : 9V (9 V battery)

Design Specifications Performance Specification Speed : 10 ft/s Sight : reacts to objects within three feet of sensor Battery Life : standard life of alkaline batteries Features : obstacle avoidance and memory in a small, fast package Economic Specification Cost of prototype : $ Cost (production) : $29.99 (min), $49.99 (max) Operation costs : price of batteries

Software Specifications To avoid obstacles at a distance within 3 feet of the R.A.T. To turn the servo the desired direction after seeing an obstacle and needing to turn To move irregularly while a safe distance from any obstacles To use the stop-and-go procedure while at a safe distance from any obstacles for some time

Software Specifications To control the forward and backward motion of the motors via the two signal lines connected to the motor controller To design the controlling interfaces to all hardware required to meet the preceding specifications

Design Requirements The toy must… Avoid becoming trapped by obstacles or the pet. Move in a way that interests the pet. Be durable enough to endure the contact that might occur with obstacles and/or the pet. Avoid displeasing sounds and visual features. Meet minimum requirements for battery life, safety, and functional lifetime.

Design Alternatives(Motors) Types: DC motors, Servo motors, other Motor Considerations: Torque Speed Life Power requirements, physical size, and price

Motor Control ForwardReverse

H-Bridge Schematic

Voltage Doubler Schematic

Design Alternatives(Controller) Types: PICs, Basic Stamps, Motorola chips, Intel chips Considerations: Programming language(s) Downloading/Debugging methods Number of I/O Lines Memory size Power requirements, physical size, price

Design Alternatives(Sensor) Types: Infrared Range Finders, Bumper Wire Sensors, Temperature Sensors, and Sonar Considerations: Beam pattern Distance range Interfacing method Accuracy Physical size, power consumption, and price

Sonar Implementation/Interfacing

Implementation of Design AI Team Implementation Plan Step 1: Connect OOPic to sonar done/ok Step 3: Connect OOPic to Servo done/ok Step 2: Write code to operate sonar done/ok Step 4: Write code to operate servo done/ok Step 5: Integrate code samples to control movement done

Implementation of Design Robotics Team Implementation Plan Step 2: Assemble chassis done/ok Step 3: Mount front steering control done/ok Step 4: Mount Servo done/ok Step 5: Mount Motor Controller incomplete Step 6: Mount OOPic done/ok Step 1: Build motor controller (H-bridge) done

Testing of Design AI Team Test Plan Test 1: Test sensitivity of sonar done/ok Test 2: Test left and right turns done/ok Test 3: Test forward and reverse control done/ok Test 4: Run real simulation in a test area incomplete

Conclusion & Demonstration

Demonstration Legend SONAR REVERSE LED FORWARD LED OOPic ControllerSERVO

Questions?