1. Final Presentation EEL 5666C INTELLIGENT MACHINES DESIGN LABORATORY APRIL 12th, Cliff Pannella Robot: “DICE”

2. Outline / Overview : OBJECTIVES THE ROBOT: WHAT WENT WRONG CONTROLLER
PLATFORM
MOVEMENT
SENSORS
METHODS
WHAT WENT WRONG

3. Objectives: Roll the dice Locate the dice Position the dice properly
Read values
Calculate win or loss
Win: 2,3,4,5,10,11,12
Loss: 6,7,8,9
Repeat

4. Controller: MAVRIC-II Board Power board: (Eagle v4.14) Regulated to 5V
ATMEGA 128 Microcontroller
Power board:
(Eagle v4.14)
Regulated to 5V

5. Platform:

6. Movement:

7. Sensor Suite Includes:
Bump Sensors
Obstacle Detection
Infrared Sensors
Obstacle Avoidance
Object Searching/Confirmation
Photoreflectors
Value Detection

8. Bump Sensors
Placement:

9. Infrared Sensors:
Placement:

10. SHARP GP2D120 INFRARED OBJECT DETECTOR (Shorter Detection Range: 4 cm-30 cm) Output Voltage (V) Object Distance (cm)

11. P5587 HAMAMATSU PHOTO IC DIGITAL OUTPUT PHOTOREFLECTOR Circuit:

12. Dice-Reading Algorithm Template: Start with most straight-forward method: and not (1,2,3,4,6,7,8,9) This is very inefficient, and not cost-effective at all

13. Method:. 5 Photoreflectors for each die. Minimum amount necessary to
Method: *5 Photoreflectors for each die *Minimum amount necessary to ensure proper read *Explained in following slide

14. Dice-Reading Algorithm
5 AND NOT 1,3
(1,3) AND NOT (4,5,8)
1 AND NOT (3,5) OR
3 AND NOT (1,5)
(1,3,5)
(1,5) AND NOT 3 OR
(3,5) AND NOT 1
(1,4) OR (1,8)

15. Probabilities 36 possible rolls 2: 1 chance 8: 5 chances
3: 2 chances 9 : 4 chances
4: 3 chances : 3 chances
5: 4 chances : 2 chances
6: 5 chances 12: 1 chances
7: 6 chances
Wins: = /36=44.4%
Losses: = 20 chance of winning

16. Special Sensor (x2)
Design done using Eagle Software (Version 4.14)

17. Assembled Special Sensor Board:

18. P5587 HAMAMATSU PHOTO IC DIGITAL OUTPUT PHOTOREFLECTORS Output Voltage (V) Distance (mm)

19. Methods/Software: Incremental Development
Circle playing area searching for die;
Use Obstacle Avoidance Functions
Verify proper storage of die; find the remaining one and do the same
Calculate values using special sensors

20. WHAT WENT WRONG?
Rolling the dice
As of now:

21. WHAT WENT WRONG (cont’d)
Estimation/Time Allocation
Murphy’s Law
No Laptop

22. THE END
Place your bets!