1. Chopper John Michael Mariano
EEL 4665 Intelligent Machines Design Laboratory
December 2, 2014

2. Agenda Objectives Robot Summary Mobile Platform Software Behaviors
Accomplishments
Lessons Learned

3. Objectives Assist cooks in cutting vegetables
Meets the IMDL requirement: collision avoidance and special system sensor

4. Mobile Platform Platform constructed out of Balsa wood
2 independently driven DC gear motors attached to plastic wheels with a caster wheel in the back for balance
Contains a linear rack and pinion system to serve as a cutting mechanism
Sensors: IR Rangefinders, Limit Switches, Phone App

5. Platform Photos
Left: Front View
Rigt: Isometric View

6. Hardware Sharp GP2Y0A21YK0F Analog Distance Sensor 10-80cm
Limit Switch provided in lab (wired as pull up switch)
30 RPM DC Motor (cutting motor)
2 Micro Metal Gear Motors with gear ratio of 75:1 (driving motor)
Arduino Mega ADK

7. Software
Arduino IDE
Eclipse IDE
Open CV
Google Nexus 5 Android Phone

8. Cutting Mechanism Left: Rack and Pinion System
Right: Close up view of blades

9. Behavior Go straight unless obstacle is blocking the way
Determine if obstacle is a vegetable
If obstacle is a vegetable, continue forward and cut it.
Image processing by color and shape detection on Android phone.
If obstacle is not a vegetable, determine the direction where there is no obstacle

10. Integrated Circuit From Left to Right:
PCB Board for motor driver of DC motor and limit switches
Ring Terminal split into 2 sections: battery and Arduino
7.4 Volt 2 cell LiPo Battery

11. Timeline
Individual codes for each behavior is completed: collision avoidance, rack and pinion system. Need to integrate the codes.
Need to fix phone app due to some problems accessing it.
Integrate the phone app into Arduino environment.

12. Lessons Learned Learned about autonomous robots
Software: Arduino and Eclipse IDE
Create circuits and integrate different hardware
Learned about simple concepts of microprocessing

13. THANK YOU FOR YOUR TIME!