1. University of Florida Intelligent Machines Design Laboratory
“Gargo”
Student Name: A.Erdem Altunbas
Date: 17 April 2007

2. Summary Introduction Integrated System Mobile Platform Actuation
Sensors
Behaviors
Gargo
17 April 2007

3. Introduction
The purpose of the robot is to measure the dimensions and weight of the box and with the destination address it will calculate the cost of the shipment and display the result to the customer. The robot will also write the destination address, dimension and weight information into an RFID tag and put the packet onto the appropriate place considering the destination address
Gargo
17 April 2007

4. Integrated System Atmega128 RFID Reader LCD H-Bridge Driver
DC Motor #1
DC Motor #2
Bump Switches
Photoreflectors
Sonar
Servo Motor
Force Sensing Resistors
Laser Pointers
Figure 1: Block Diagram of the overall system
Keypad
Gargo
17 April 2007

5. Mobile Platform
Gargo
17 April 2007

6. Actuation 12V, 120rpm with 8.8 kg-cm stall torque DC motors
4.8V-6V with 57 oz-inch torque servo motor
Sabertooth 2X5 R/C Regenerative Dual Channel Motor Controller has dual motor controllers with 5 amps maximum current.
Gargo
17 April 2007

7. Sensors-1 Bump Switches:
Two bump switches are used to detect obstacles
Laser Pointers:
Three sets of laser pointer arrays are used for each dimension to detect the dimension on that axis
Force Sensing Resistors (FSR):
Four force sensing resistors for measuring the weight of the box
Photoreflectors:
TCRT 5000 IR reflectors are used as Tracker Sensor, the output pins for right , middle and left reflectors are controlled by the Mavric-II.
Gargo
17 April 2007

8. Sensors-2
RFID Reader
Alien ALR-9780
Gargo
17 April 2007

9. Behaviors Gargo has several behaviors;
(1) waits for the push button input to get the destination address (Gainesville, Florida or out of state) and start information
(2) measures the dimension of the box and decides if it is big, small or smaller.
(3) measures the weight of the box and decides if is heavy, light or lighter.
(4) writes dimension, weight and destination address information to the RFID tag
(5) obstacle detection
(6) line tracking
(7) push the box to the corresponding place in the destination area.
Gargo
17 April 2007

10. Thank you
Questions ?
Gargo
17 April 2007