2. Tweaks Through Time One of the Major tweaks that had to be done to the initial design was the way the robot would find the main door. Initially it will wonder around the house until it find it. However, to make this process even better the robot instead follows arrows to find the correct direction. The later solution is the actual method that makes the robot find the front door.

3. Functionality Checklist Obstacle Avoidance Communication throughout LCD CMUcam interacted to detect Colors Trash Fullness sensing Colors Commands ×Weight Sensor (for heavy loads) ×Party Mode Enable

4. Obstacle Avoidance The robot differentiates and reacts differently to: Walls: - Walls: it aproaches to the wall and reads the color. Static Obstacles: - Static Obstacles: (tables legs, small obstacles) The robot will avoid them and keep its way. Dynamic Obstacles: - Dynamic Obstacles: (most likely, Dr. S or Dr. AAA) The robot will simply stop until the obstacle crosses by.

5. Communication With LCD The robot basically writes to the LCD all the current behaviors that it is currently performing. In this manner debugging was much easier and enjoyable

6. CMUcam Integrated The CMUcam is used to detected colors, after some testing mechanisms these are the colors that the robot “sees”… RED BLUE GREEN

7. Trash Fullness Sensing A simple IR that sits on top of the trashcan and basically has a calibration number which will indicate that the trashcan is not full, when this number increases permanently then trash is full!

8. Color Commands TURN LEFT TURN RIGHT BASE/FRONT DOOR FOUND

9. DIFFICULTIES One of the major difficulty I encounter during this process was to make the robot look “pretty”. the mechanical construction of the robot gave me a lot of issues. (even though it is a simple box). Integrating the parts together in an intelligent manner gave me trouble, basically I added everything adding some silicone and (squasshh!) (which is not an ideal solution)

10. If I had another chance… First of all I would have buy stronger servos (on time). Find a better way to connect the electronics. Add a weight Sensor. Add Sound when receives trash, when moves, and when finds arrows, front door, bases etc… I would…have done the Knight Raider animation again.

11. QUESTIONS? Special Thanks to - Dr AAA, Dr S - Adam, Julio - My classmates - Friends