Midterm Presentation

Jackson Knott Electrical Engineer PIC Programming Hardware Brian Lampkin Electrical Engineer Vision Programming PIC Programming Matt Watts Electrical Engineer PIC Programming Debugging Matt Williams Electrical Engineer PIC Programming Hardware Website John Morrison Electrical Engineer PIC Programming Debugging Ian Turnipseed Electrical Engineer Vision Programming Research Dr. Robert Reese Advisor

 Competition Overview  Project Overview  System Design  Design Constraints  Approach & Tradeoff Analysis  Timeline  Progress and Prototype

 IEEE SoutheastCon 2013  Hardware Competition  Jacksonville, FL  April 5-6, 2013  Autonomously navigate a course, while picking up and delivering blocks to a final location based on both size and color. [1]

 Competition Overview  Project Overview  System Design  Design Constraints  Approach & Tradeoff Analysis  Timeline  Progress and Prototype

Features: 15 Minutes of Battery Life Modular/Easy to Repair Carry Two Blocks at Once Specifications: Ability to Carry Blocks Classify Blocks by Size/Color Navigate Autonomously Deliver All Blocks within 5 Minutes Must Fit within 12”x12”x16” Space

 Competition Overview  Project Overview  System Design  Design Constraints  Approach & Tradeoff Analysis  Timeline  Progress and Prototype

Microcontroller RecognitionNavigation

Microcontroller Encoders Sonar IR Sensors Motors

CPU Camera Grippers Microcontroller

 Competition Overview  Project Overview  System Design  Design Constraints  Approach & Tradeoff Analysis  Timeline  Progress and Prototype

NameDescription Multiple Block Carrier The robot must carry the maximum allowed number of blocks. NavigationThe robot must navigate the course autonomously. DetectionThe robot must detect color and size of blocks and spaces. SpeedThe robot must travel at a speed of 0.4 feet/second. SizeThe robot must be no larger in size than 12”x12”x16” [1]

TypeName ManufacturabilityModular Design SustainabilityBattery Life

 The layout of our robot should have easily exchangeable parts in order to be able to replace parts quickly. Emergency Plan for Competition Easy Maintenance

 The robot must have a rechargeable battery that can last for a minimum of fifteen minutes. Preparation Time for Competition Troubleshooting Available for Multiple Rounds

 Meet the Team  Competition Overview  Project Overview  System Design  Design Constraints  Approach & Tradeoff Analysis  Timeline  Progress and Prototype

CHOICESPROSCONS PIC24 64 PIN Microcontroller PIC24HJ64GP506A - High familiarity

CHOICESPROSCONS PIC24 64 PIN Microcontroller PIC24HJ64GP506A - High familiarity

CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Deduced Reckoning- Simple Task- Less Accurate Encoders- Accurate Location- Drifting

CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Deduced Reckoning- Simple Task- Less Accurate Encoders- Accurate Location- Drifting

CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 – 30cm) - Readily Available - Only detects out to 30 cm SRF08 Ultra Sonic Range Finder - Longer Distances (3-600cm) - Readily Available - Expensive - Possible Interference Omron Micro Switch V-15G3- 1C25-K - Readily Available - Inexpensive - No Interference - Requires Servo for lowering

CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 – 30cm) - Readily Available - Only detects out to 30 cm SRF08 Ultra Sonic Range Finder - Longer Distances (3-600cm) - Readily Available - Expensive - Possible Interference Omron Micro Switch V-15G3- 1C25-K - Readily Available - Inexpensive - No Interference - Requires Servo for lowering

CHOICESPROSCONS 67:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder V - Integrated Encoder - High Torque (200 oz-in) - $40/motor Micro DC Geared Motor FIT V - Readily Available - $6/motor - Low Torque (26.6 oz-in) - High Rate of Failure

CHOICESPROSCONS 67:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder V - Integrated Encoder - High Torque (200 oz-in) - $40/motor Micro DC Geared Motor FIT V - Readily Available - $6/motor - Low Torque (26.6 oz-in) - High Rate of Failure

CHOICESPROSCONS Tamiya Racing Wheels- $6.50/pair - Readily Available - Thick Grip Area - Weak Grip Pololu Wheel 80x10mm- Strong Grip - Can provide extra support by adding more wheels -$9.25/pair - Thin Grip Area

CHOICESPROSCONS Tamiya Racing Wheels- $6.50/pair - Readily Available - Thick Grip Area - Weak Grip Pololu Wheel 80x10mm- Strong Grip - Can provide extra support by adding more wheels -$9.25/pair - Thin Grip Area

CHOICESPROSCONS Ball Casters- Available in Lab- Shorter Overall Height - Possibility of Failure on Ramp Wheel Casters- Greater Overall Height - Available in Lab - Wheel must align correctly for a turn

CHOICESPROSCONS Ball Casters- Available in Lab- Shorter Overall Height - Possibility of Failure on Ramp Wheel Casters- Greater Overall Height - Available in Lab - Wheel must align correctly for a turn

CHOICESPROSCONS Mini-ITX with Camera-Detect Size/Color Simultaneously - Detect Block Location Relative to Grippers - High Power Consumption - Heavy RGB Sensors with Array of IR Line Sensors - Low Power Consumption - Simple - Light - Needs Closer Proximity to the Blocks - Requires Extra Movement - Must be Precise

CHOICESPROSCONS Mini-ITX with Camera-Detect Size/Color Simultaneously - Detect Block Location Relative to Grippers - High Power Consumption - Heavy RGB Sensors with Array of IR Line Sensors - Low Power Consumption - Simple - Light - Needs Closer Proximity to the Blocks - Requires Extra Movement - Must be Precise

CHOICESPROSCONS Intel Atom D2700- Low Power Consumption - No Forced Air Ventilation - Low Processing Power AMD A75- Low Power Consumption - No Forced Air Ventilation - Cheaper - More Heat - Low Processing Power Intel Core I7- High Processing Power - Integrated Graphics - Required External Air Ventilation - Expensive

CHOICESPROSCONS Intel Atom D2700- Low Power Consumption - No Forced Air Ventilation - Low Processing Power AMD A75- Low Power Consumption - No Forced Air Ventilation - Cheaper - More Heat - Low Processing Power Intel Core I7- High Processing Power - Integrated Graphics - Required External Air Ventilation - Expensive

CHOICESPROSCONS iStarUSA S-0512-DT Mini- ITX Case - 5” Drive Bay - Aluminum - More Expensive Habey EMC-600BL Mini- ITX Case - Cheaper - Aluminum - Smaller

CHOICESPROSCONS iStarUSA S-0512-DT Mini- ITX Case - 5” Drive Bay - Aluminum - More Expensive Habey EMC-600BL Mini- ITX Case - Cheaper - Aluminum - Smaller

CHOICESPROSCONS C-Sharp- Faster - Better Debug Capabilities - Lengthy Code Python- Simple - Compiles/Runs Simultaneously - Slower

CHOICESPROSCONS C-Sharp- Faster - Better Debug Capabilities - Lengthy Code Python- Simple - Compiles/Runs Simultaneously - Slower

CHOICESPROSCONS Claw- Easier Pickup/Drop Off - Easier Alignment - Retractable - Could Drop Block Scoop- Fewer Servos Necessary - Unlikely to Drop Block - Harder Pickup/Drop Off - Can’t fully Retract

CHOICESPROSCONS Claw- Easier Pickup/Drop Off - Easier Alignment - Retractable - Could Drop Block Scoop- Fewer Servos Necessary - Unlikely to Drop Block - Harder Pickup/Drop Off - Can’t fully Retract

CHOICESPROSCONS Sparkfun Robotic Claw ROB ” Clearance - Parallel Arm Movement - Metal-based - Must be Assembled - Small Gripping Area Lynxmotion A-Style Gripper Kit - Parallel Arm Movement - Assembled with Servos ” Clearance - PVC-based - Small Gripping Area Custom Built Gripper- Built to Specification- Time-consuming

CHOICESPROSCONS Sparkfun Robotic Claw ROB ” Clearance - Parallel Arm Movement - Metal-based - Must be Assembled - Small Gripping Area Lynxmotion A-Style Gripper Kit - Parallel Arm Movement - Assembled with Servos ” Clearance - PVC-based - Small Gripping Area Custom Built Gripper- Built to Specification- Time-consuming

 Meet the Team  Competition Overview  Project Overview  System Design  Design Constraints  Approach & Tradeoff Analysis  Timeline  Progress and Prototype

AugustSeptemberOctoberNovemberDecember Strategy and Course Construction Research and Purchasing Programming Circuit Design Debugging Prototype

 Competition Overview  Project Overview  System Design  Design Constraints  Approach & Tradeoff Analysis  Timeline  Progress and Prototype

Added Sonar Sensors for Initial Testing on a Functional Platform

Camera Mount for Vision System Navigation Prototype Circuit Ultra Sonic Sensor Infrared Sensor

[1] IEEE SoutheastCon 2013 Hardware Competition. Final Version. 11 Sep _SECON_2013_Hardware_Rules.pdf _SECON_2013_Hardware_Rules.pdf

Questions