1. IEEE South East Conference 2016 MID-SEMESTER PRESENTATION

2. The Team Kenny Bertucci Electrical Engineering Will Gray Computer Engineering Jackson Cornelius Electrical Engineering Brad Killen Electrical Engineering Conrad Stockstill Electrical Engineering John Rogers Team Lead Computer Engineering

3. Work Distribution Software Redesign Sensor Testing Hardware Redesign Hardware Testing Packaging John Jackson Will Conrad Kenny Brad

4. Dr. Bryan A. Jones Education: ◦Ph.D., Clemson University, 2005 ◦M.S., Rice University, 2002 ◦B.S.E.E., Rice University, 1995 Research/Fields of Interest: ◦Robotics ◦Real-time control system implementation ◦Rapid prototyping for real-time systems ◦Modeling and analysis of mechatronic systems

5. Outline Competition Overview System Overview Design Constraints ◦Practical Constraints ◦Technical Constraints System Testing ◦Navigation ◦Block-Handling ◦Full System Timeline Questions

6. Competition Overview 1.Starting Zone 2.Barge/Pickup Zone 3.Rail Zone 4.Boat Zone 5.Truck Zone

7. System Overview

8. Design Constraints

9. Practical Constraints ◦Health and Safety ◦Sustainability

10. Health and Safety ◦Flammable, pressurized, hazardous gases or liquids are prohibited ◦No projectiles of any kind are allowed

11. Sustainability ◦Will be constructed in two separate platforms ◦Top platform will identify and collect blocks ◦Navigation platform will provide transportation ◦Will be designed such that future teams can reuse the navigation platform

12. Technical Constraints NameDescription Size The robot must initially fit in a 12” x 12” x 12” area and cannot extend more than 8” in any direction. Navigation Must be able to complete the course objectives without any human interaction. Color SensingMust distinguish between four different colors. Omnidirectional MovementWill be able to move in any direction. Load Capacity Will be able to store and transport 8 large blocks simultaneously.

13. Camera ◦Raspberry Pi 2 B+ with Raspberry Pi Camera Module rev. 1.3 ◦While moving laterally, it locates and centers on group of 8 blocks using QR codes on the front of the blocks

14. Vision Testing Clutter

15. Vision Testing

16. Color Sensing ◦An array of eight TCS34725 RGB Sensors ◦Detects the blocks inside the block-handling platform ◦Treats all blocks as half-blocks

17. Color Sensing ◦Each color sensor was tested for eight inputs: Each of the 4 colors at both distances from the sensor. Color and Position Correct Readings Red Lower8 Red Upper8 Blue Lower8 Blue Upper8 Yellow Lower6 Yellow Upper5 Green Lower8 Green Upper7 Total Percentage90.625

18. Size ◦The robot must fit into a 12" x 12" x 12" volume at the start ◦After exiting the start tunnel, the robot may expand up to 8" in any direction, to a maximum of 20" x 20" x 20“ ◦Plan to construct a 12”x12”x12” box to measure the size in place of current ruler measurements

19. Bump Switch ◦Positioned on front of navigation platform ◦Used to find walls in order to identify location on board ◦Robot uses dead-reckoning for distance traveled

20. Platform Lift 3 Stepper-Motors raise and lower the upper platform The upper platform base must reach 3 different heights: 5”, 7”, and 10” Platform Height Revolutions From 5” Revolutions From 7” Revolutions From 10” 5”--6.2 revs|14.4 secs-15.8 revs|36.7 secs 7”+6.2 revs|14.4 secs--9.6 revs|22 secs 10”+15.8 revs|36.7 secs+9.6 revs|22 secs-

21. Omnidirectional Movement ◦The Mecanum wheels allow movement in any direction, including laterally ◦During testing, timing had to be done for rotations ◦Robot can navigate over bumps in any direction ◦Allows easier navigation around obstacles in front of railcars

22. Load Capacity No maximum load in rules Robot currently carries 8 full-size blocks 8 full-size blocks is half the number on each platform Two trips-per-platform

23. Rack-and-Pinion System 100:1 Micro DC Motors pushing 8 sets of rack-and-pinions Each motor can push the pinion out halfway or fully depending on block length Made from carbon fiber infused ABS for added durability

24. Rake System Rack and Pinion system paired with two servos Gate made from lexan for durability Dual purpose

25. Parts List PartQuantityPrice per UnitTotal Per PartLink to Part Arduino Uno R32$16.99$33.98amazon Adafruit Motor Shield5$19.49$97.45amazon Raspberry PI 2 B1$39.99 amazon I2C Multiplexer1$7.95 amazon 4 Channel I2C Level Converter2$6.99$13.98amazon Adjustable Voltage Regulator1$15.18 amazon Lexan.118"2$8.85$17.70amazon Adafruit RGB Color Sensor8$11.52$92.16amazon NEMA 17 Stepper Motor3$47.99$143.97amazon Carbon Fiber ABS1$39.99 amazon 100:1 Micro Metal Gearmotor8$16.95$135.60pololu 5" x 2.5" Ubolt4$1.37$5.48lowes Hitex Deluxe HS-485HB1$18.98 amazon Parallax Continuous Rotation Servo1$18.95 amazon Bump Switch1$10.82 amazon Raspberry Pi Camera1$20.00 amazon Machine Key4$0.50$2.00andymark Key Hub4$11.00$44.00andymark 4" Mecanum Wheel set1$89.00 andymark Sprocket Mount4$6.00$24.00andymark M4 Screws4$2.00$8.00andymark PG27 Planetary Gearbox with RS775 Motor and Encoder4$85.00$340.00andymark Retainer Clip4$0.25$1.00andymark Grand Total$1,220.18

26. System Testing Two Phases of Tests ◦Sub-system tests ◦Progressive Full-Course Testing

27. Sub-System Testing – Block-Handling Grabbing Blocks Depositing Blocks Rail Cars Boat Truck Results: Worked consistently for 10 out of 10 trials

28. Sub-System Testing – Alignment Alignment ◦Blocks ◦Rail Cars ◦Truck ◦Boat Results: Worked consistently for 10 out of 10 trials

29. Progressive Full Course Testing 1.Add Sub-System Action 2.Troubleshoot action 3.Add next subsystem action Results: 7 out of 10 Successful Trials

30. Timeline JanuaryFebruaryMarchApril Refabricating Improvements to Design Testing and Debugging SouthEastCon 2016 Final Demo

31. References [1] IEEE SoutheastCon 2016 Hardware Competition Rules. http://sites.ieee.org/southeastcon2016/student-program/ http://sites.ieee.org/southeastcon2016/student-program/ [2] Raspberry Pi 2. http://arstechnica.com/information-technology/2015/02/raspberry-pi-2-arrives- with-quad-core-cpu-1gb-ram-same-35-price/http://arstechnica.com/information-technology/2015/02/raspberry-pi-2-arrives- with-quad-core-cpu-1gb-ram-same-35-price/ [3] Arduino UNO. https://www.arduino.cc/en/Guide/Windowshttps://www.arduino.cc/en/Guide/Windows [4] PIC24/PIC33. http://www.uelectronics.info/backup/tags/video.htmlhttp://www.uelectronics.info/backup/tags/video.html [5] Mecanum Wheel Set. http://www.robotshop.com/en/mecanum-wheel-set.htmlhttp://www.robotshop.com/en/mecanum-wheel-set.html [6] Hazard Symbols. https://www.graphicproducts.com/articles/hazardous-waste-symbols/https://www.graphicproducts.com/articles/hazardous-waste-symbols/

32. Questions?