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. System Testing Three Phases of Tests ◦Sub-system tests ◦Progressive Full-Course Testing ◦2 nd -Course Layout Testing

26. Sub-System Testing – Block-Handling Grabbing Blocks Depositing Blocks Rail Cars Boat Truck

27. Sub-System Testing – Alignment Alignment ◦Blocks ◦Rail Cars ◦Truck ◦Boat

28. Progressive Full Course Testing 1.Add Sub-System Action 2.Troubleshoot action 3.Add next subsystem action

29. 2nd-Course Layout Testing 2 nd -course layout programming will be adapted from the 1 st Tested Progressively like the first 1 st -course program

30. Timeline JanuaryFebruaryMarchApril Refabricating Improvements to Design Testing and Debugging SouthEast Con 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?