Mobile Robot Student: Tyrone Verburgt

Objective The objectives of this presentation are: Overview of Project and objectives of project Robot system and Subsystems. Operation of robot, camera to mobile, etc. Project Management Mobile Robot Project

Introduction The project is based on a robot that can read from its surrounding such as temperature, pressure and attitude and collects image data. The robot additionally collects data on its power reserves. The Robot is mobile and is controlled by either a script on the web via Wi-Fi and HTTP protocols or via an Android application via Bluetooth. Mobile Robot Project

System Overview The robot system is made of many parts which are listed below. Microcontroller Bluetooth Module Wi-Fi Module H-bridge Barometer Voltage regulator Mobile Robot Project

System Overview Mobile Robot Project

Sub-systems ATMega328-PU 8 bit AVR Microcontroller Digital I/O: 23 8 Analogue Pins Operating Voltage: 1.8~5 V 5 PWM pins 1 UART interface Mobile Robot Project

DTR (Data Terminal Ready) Sub-systems USB-TTL Serial Adapter (CH340G CH340) Pins DTR (Data Terminal Ready) RXD (Receive Data) TXD (Transmit Data) VC (Power Supply) CTS GND (Ground) Used to interface ATmega328-PU with PC via USB Cheap Found nearly anywhere online, Ebay or Amazon Uses UART interface Hack of RS233 Mobile Robot Project

Sub-systems H-Bridge Used to reverse the polarity of current or voltage Composed of 4 switched that control the direction of current Mobile Robot Project

Sub-systems H-Bridge Condition 1 Condition 2 Current runs through Q2 and Q3 Current runs through Q1 and Q4 Mobile Robot Project

Sub-systems H-Bridge Two BC327 PNP transistors Two BC337 NPN transistors Four Rectifiers Four 1 k Mobile Robot Project

Sub-systems Pressure and Temperature Sensor (BMP085) Pins VCC GND EOC XCLR SCL SDA Uses I2C communication Outputs Pressure (Pa) Outputs Temperature (C) Pressure and Temperature can be used to calculate altitude. Mobile Robot Project

Sub-systems JPEG Camera (LS-Y201 Infrared Camera) Daytime Night-time Default resolution: 640x480 (VGA) Use UART communication Interface Additionally takes picture in infra-red Operation done using defined HEX commands provide by Manufacturer Mobile Robot Project

Sub-systems Wi-Fi Adapter (ESP8266) Uses TCP or UDP Pins VCC 3.3 V GND Ground TXD Transmit Pin RXD Receive Pin CH_PD Chip Power Down GPIO0 General Purpose I/O 0 GPIO2 General Purpose I/O 2 RST Reset Uses TCP or UDP Uses AT commands to establish connection Provides a System on Circuit (SOC) Two GPIO pins Current: 400~600 mA UART communication interface Mobile Robot Project

Sub-systems Webpage (HTML, PHP & MySQL) Receives and sends data via the HTTP protocol Robot uses GET command PHP dynamically updates webpages table MySQL database stores received data in a table Mobile Robot Project

Sub-systems Webpage (HTML, PHP & MySQL) www.tixgy.com/DITrobot.php Mobile Robot Project

Sub-systems Bluetooth Adapter (JY-MCU) Provide UART interface Pins Description 1 Key 2 VCC (3.6-6V) 3 GND 4 TXD (3.3 V) 5 RXD (3.3 V) Provide UART interface Ultra High Frequency (UHF) (2.4 GHz) Used AT commands Range: 10 meters Mobile Robot Project

Sub-systems Bluetooth Application Used to establish Bluetooth connection with robot To send and receive data to and from robot Mobile Robot Project

Sub-systems Bluetooth Application Application consists of three threads Threads are created because of blocking methods Mobile Robot Project

System operation System Operation with Mobile Phone Mobile Robot Project

System operation System Operation with Wi-Fi Mobile Robot Project

Project Management Work Breakdown Structure Work Breakdown Structure showing the major task and subtasks Mobile Robot Project

Project Management Gantt Chart Gantt Chart showing the milestones their tasks Mobile Robot Project

Project Management Mobile Robot Project

Discussion and issues Power Issues Project Management (planning, time & task management) Linear Programming issue Mobile Robot Project

Recommendations Project Management (time constraints) No improvements Mobile Robot Project

Conclusion Success Professional Development as an Engineer Mobile Robot Project