J. D. Pohlman Brad White Peter Motykowski Matt Allen

Introduction The purpose of our project is to program a robot to find a chair and place it at an empty desk. The purpose of our project is to program a robot to find a chair and place it at an empty desk. Senior Project Lab (EB2029) Senior Project Lab (EB2029)

Project Concept

Team Roles J. D. Pohlman J. D. Pohlman –Team Leader –Chair Grip Module –Customer Feedback Document Brad White Brad White –Lead Documenter –Chair Movement Module –User’s Guide Peter Motykowski Peter Motykowski –Lead Programmer –Object Recognition Module –Social Implications Document Matt Allen Matt Allen –Lead Designer –Wander Module –Coding/Algorithm Design Document

Release 1 Contingency Plan Contingency Plan Basic Movement Basic Movement Object Recognition Object Recognition Chair Movement Chair Movement Overhaul Website Overhaul Website

Release 2 Draw Map of 2029 with Robot Draw Map of 2029 with Robot Apply Markov Localization Apply Markov Localization Simple Chair Placement Simple Chair Placement Coding/Algorithm Design Document (Preliminary Version) Coding/Algorithm Design Document (Preliminary Version) User’s Guide (Preliminary Version) User’s Guide (Preliminary Version)

Release 3 Grip Chair Grip Chair Advanced Chair Movement Advanced Chair Movement Module Integration Module Integration Coding/Algorithm Design Document Coding/Algorithm Design Document User’s Guide User’s Guide Customer Feedback Document Customer Feedback Document Social Implications Document Social Implications Document

Project Inadequacies Project requirements refined Project requirements refined - chair placement is done in northwest corner of EB2029 Pre-defined path finding while gripping a chair was unsuccessful Pre-defined path finding while gripping a chair was unsuccessful Chair gripping buggy Chair gripping buggy

Difficulties Communication Problems Among Team Members Communication Problems Among Team Members Inconsistency in Robot Behavior Inconsistency in Robot Behavior Learning Curves Learning Curves Scheduling Scheduling Module Integration Module

Simplicities Object Recognition Object Recognition Wander Using Pre-Defined Path Finding Wander Using Pre-Defined Path Finding Integrating Laser Map into Modules Integrating Laser Map into Modules Localization (Without Chair) Implemented Using Markov Localization Module Localization (Without Chair) Implemented Using Markov Localization Module

Decisions Good: Good: –Regular Meeting Schedule –Local Expert Available to Answer Questions –Video on Website –Website Content Layout Bad: Bad: –Set More Achievable Goals –Started Module Integration Late in Project –Not enough time allocated for mastering a Linux-based IDE

Social Implications Broad: Broad: –Power Use and Generation –Assisting the Disabled and Elderly –Liability Issues Narrow: Narrow: –Specialized Knowledge –Emotional Concerns

Feedback

Curriculum Lack of formal introduction to development in a UNIX environment Lack of formal introduction to development in a UNIX environment Team lacked prior knowledge of robotics Team lacked prior knowledge of robotics Teamwork in prior courses (CS321, CS325) Teamwork in prior courses (CS321, CS325) –All group members completed the Software Engineering course.

Any Questions??