1. Electrical & Computer Engineering Department Bull E SECON Senior Design II Final Presentation April 21, 2009

2. Electrical & Computer Engineering Department Dr. Bryan Jones, Advisor Team A Team B

3. Electrical & Computer Engineering Department Outline Introduction –Competition Overview –Team Responsibilities Practical Constraints Technical Constraints Bill of Materials Competition

4. Electrical & Computer Engineering Department Competition Overview Autonomous recycling robot for 2009 IEEE SECON hardware competition Must locate, acquire, sort, and store recyclables on the robot. 10 Recyclables include: –5 aluminum cans –3 plastic bottles –2 glass bottles Maximum Starting Size: 12”x12”x18” Maximum footprint: 12”x12”

5. Electrical & Computer Engineering Department Competition Playing Field Artificial turf 8’x8’ Electric dog fence boundary 10’x10’ Hard boundary Recyclables will be placed on their sides The recyclables arrangement will be the same for each heat

6. Electrical & Computer Engineering Department Team Responsibilities Driving Navigation Boundary Detection Acquisition Target Detection Discrimination Sorting Storage Team A Team B

7. Electrical & Computer Engineering Department Outline Introduction –Competition Overview –Team Responsibilities Practical Constraints Technical Constraints Bill of Materials Competition

8. Electrical & Computer Engineering Department NameDescription ManufacturabilityThe robot must fit inside a 12" x 12" x 18" box. SustainabilityThe robot must operate at least 4 minutes on a single battery charge. Practical Constraints

9. Electrical & Computer Engineering Department Manufacturability

10. Electrical & Computer Engineering Department Battery choice: –Lithium-Ion Powerizer (14.8 V, 4800 mAH) High energy density Protection circuitry housed on battery package –More than 30 mins –Have backup battery –Separate 9V battery for dog fence circuitry Separate motor noise Sustainability

11. Electrical & Computer Engineering Department Outline Introduction –Competition Overview –Team Responsibilities Practical Constraints Technical Constraints Bill of Materials Competition

12. Electrical & Computer Engineering Department Technical Constraints NameDescription Locomotion Must be able to search 100 square feet in 4 minutes. Object Detection Must be able to detect recyclables on the field. Acquisition Must be able to retrieve aluminum cans, glass bottles, and plastic bottles. Boundary Detection Must be able to detect the boundary within 3 inches of accuracy.

13. Electrical & Computer Engineering Department Locomotion VEXplorer Kit: Continuous Servo (9 V) Tracks Idlers Wheels

14. Electrical & Computer Engineering Department Locomotion Speed: 4 min round 100 sq. ft. ~10 sec sort >8.5 in/sec Actual Speed: >10 in/sec

15. Electrical & Computer Engineering Department Technical Constraints NameDescription Locomotion Must be able to search 100 square feet in 4 minutes. Object Detection Must be able to detect recyclables on the field. Acquisition Must be able to retrieve aluminum cans, glass bottles, and plastic bottles. Boundary Detection Must be able to detect the boundary within 3 inches of accuracy.

16. Electrical & Computer Engineering Department Object Detection IR Sensors Sight: 30cm ±ε Positions Pros: Light immunity Pulses Accuracy

17. Electrical & Computer Engineering Department Object Detection Distance Determination Values Inconsistencies

18. Electrical & Computer Engineering Department Technical Constraints NameDescription Locomotion Must be able to search 100 square feet in 4 minutes. Object Detection Must be able to detect recyclables on the field. Acquisition Must be able to retrieve aluminum cans, glass bottles, and plastic bottles. Boundary Detection Must be able to detect the boundary within 3 inches of accuracy.

19. Electrical & Computer Engineering Department Final Arms

20. Electrical & Computer Engineering Department PROSCONS + Easily fabricated- Flexible + Easily aligned- Bottle can jam + Do not jam each other Final Arms

21. Electrical & Computer Engineering Department Technical Constraints NameDescription Locomotion Must be able to search 100 square feet in 4 minutes. Object Detection Must be able to detect recyclables on the field. Acquisition Must be able to retrieve aluminum cans, glass bottles, and plastic bottles. Boundary Detection Must be able to detect the boundary within 3 inches of accuracy.

22. Electrical & Computer Engineering Department Boundary Detection Circuit Antenna Noise

23. Electrical & Computer Engineering Department Boundary Detection

24. Electrical & Computer Engineering Department Boundary Detection

25. Electrical & Computer Engineering Department Boundary Detection

26. Electrical & Computer Engineering Department Circuit Antenna Noise Boundary Detection

27. Electrical & Computer Engineering Department Circuit Antenna Noise Boundary Detection

28. Electrical & Computer Engineering Department Technical Constraints NameDescription Navigation The robot must travel within the 10’ X 10' square boundary without contacting or extending over the boundary. Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field. Target Discrimination The robot must recognize the containers as being either glass, aluminum, or plastic. Sorting The robot must sort the recyclables into three different containers.

29. Electrical & Computer Engineering Department Navigation Wander the field Turn to any container within 1 ft. At fence, back up and turn away. Does not require precise control – drift is acceptable [1]

30. Electrical & Computer Engineering Department Navigation

31. Electrical & Computer Engineering Department Technical Constraints NameDescription Navigation The robot must travel within the 10’ X 10' square boundary without contacting or extending over the boundary. Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field. Target Discrimination The robot must recognize the containers as being either glass, aluminum, or plastic. Sorting The robot must sort the recyclables into three different containers.

32. Electrical & Computer Engineering Department Storage Three aluminum-frame compartments Simple expansion for aluminum cans Optimized for delivery speed –Glass (heaviest) at bottom –Cans (most common) at mid-height All 10 containers fit onboard

33. Electrical & Computer Engineering Department Storage

34. Electrical & Computer Engineering Department Storage

35. Electrical & Computer Engineering Department Technical Constraints NameDescription Navigation The robot must travel within the 10’ X 10' square boundary without contacting or extending over the boundary. Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field. Target Discrimination The robot must recognize the containers as being either glass, aluminum, or plastic. Sorting The robot must sort the recyclables into three different containers.

36. Electrical & Computer Engineering Department Target Discrimination FSR (Force Sensing Resistor) –Produced different voltages for the weight of each type of container IR sensor –Detects presence of a container –Crucial for aluminum can detection

37. Electrical & Computer Engineering Department Target Discrimination Guards on the two ends of lift platform –Ensure recyclables stay in a position to be read by the FSR –Prevent IR sensor from being damaged by incoming recyclables

38. Electrical & Computer Engineering Department Discrimination Test Voltage Reading > Idle Voltage Apparent Container? Pass or Fail? Test 11.0PlasticPass Test 21.9GlassPass Test 30.1AluminumPass Test 41.2PlasticPass

39. Electrical & Computer Engineering Department Technical Constraints NameDescription Navigation The robot must travel within the 10’ X 10' square boundary without contacting or extending over the boundary. Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field. Target Discrimination The robot must recognize the containers as being either glass, aluminum, or plastic. Sorting The robot must sort the recyclables into three different containers.

40. Electrical & Computer Engineering Department Sorting Stepper Motor –Lifts platform Guide Rails –Keeps platform aligned while ascending and descending

41. Electrical & Computer Engineering Department Sorting Braced the lift platform using a square bracket –Ensures full support and reduces the forward pull on the stepper motor screw shaft –Allows the motor to lift recyclables faster

42. Electrical & Computer Engineering Department Sorting Limit Switch –Allows the lift to reset at ground position –Compensates for error after rising and descending Ability for the lift to nudge up and check IR –This is for the fail case when the container does not leave the lift

43. Electrical & Computer Engineering Department Sorting Test Bind?Nudge?Sort correctly? Reach ground? Test 1No Yes Test 2Yes Test 3NoYes Test 4No Yes

44. Electrical & Computer Engineering Department Packaging

45. Electrical & Computer Engineering Department Packaging

46. Electrical & Computer Engineering Department Packaging

47. Electrical & Computer Engineering Department Packaging

48. Electrical & Computer Engineering Department Outline Introduction –Competition Overview –Team Responsibilities Practical Constraints Technical Constraints Bill of Materials Competition

49. Electrical & Computer Engineering Department Bill Of Materials ItemQuantityCost Aluminum framing and storage1$72.01 Lithium-Ion Powerizer Battery w/ charger2$135.85 24” Force Sensing Resistor1$18.00 Vex Tank Tread and 2 Continuous Motors1$64.97 Buck Converters3$49.50 Hayden Stepper Motor1$162.50 Guide Rails2$120.00 30cm Sharp IR Sensors6$73.08 SparkFun Bluetooth Module1$59.95 Ferrite Rod2$5.50 HS-311 Servos4$35.96 PCB and Components1$145.35

50. Electrical & Computer Engineering Department Bill Of Materials $942.67

51. Electrical & Computer Engineering Department Outline Introduction –Competition Overview –Team Responsibilities Practical Constraints Technical Constraints Bill of Materials Competition

52. Electrical & Computer Engineering Department What Happened at Competition?

53. Electrical & Computer Engineering Department Thursday Night: Tweaked Values Went to sleep by midnight High confidence

54. Electrical & Computer Engineering Department 18” Rule Violation 12” footprint

55. Electrical & Computer Engineering Department Transformed room into a robotics lab

56. Electrical & Computer Engineering Department

61. Round 1: Picked up glass bottle. Stored correctly Attempted plastic, but lift jammed. Did not store Round 2: Programmed with old code. Did not move

62. Electrical & Computer Engineering Department Finals, 1: Kept sweeping up glass and cans, but did not successfully acquire anything Finals, 2: Picked up glass and plastic. Plastic not stored properly

63. Electrical & Computer Engineering Department Acknowledgements Dr. Bryan Jones Dr. Robert Reese Dr. Nick Younan Mr. Mike Nosser Mr. Ricky Gray