1. Kaveh Nowroozi Final Presentation August 3, 2004
T.o.P.S.o.R
Kaveh Nowroozi
Final Presentation
August 3, 2004

2. Summary Where I Started What This Project Evolved Into
What is The Future

3. Introduction
Idea Basis
Implementation of My Vision

4. Integrated System Main Board CMUCam Sensors Progressive Mega128-Dev
Sharp GP2D12 Distance Sensors
Fairchild QRB1134 Photo Resistors

5. Platform Acrylic Platform 2 Levels 4 Wheels Gripping Arm
2 Servo Driven
2 Omnidirectional
Gripping Arm

6. Actuation 2 Hacked Parallax Servos for Drive System Arm/Claw
From
Arm/Claw
1 servo controls each side of claw

7. Sensors CMUCam Test Data Algorithm
If color > 100 && color > other colors
Then can/wall color = color

8. Sensors Sharp Distance Sensors Mounting Algorithm
If Converted ADC value of sensor > 0xC0, object is close

9. Sensors
Sharp Distance Sensors
Test Data

10. Sensors Fairchild Photoreflectors
Drive Circuit -

11. Sensors
Fairchild Photoreflectors
Test Data

12. Sensors Fairchild Photoreflectors Mounting Algorithm
Identical to Distance Sensor

13. Behaviors Find and Grab Can Identify Can Find Wall Identify Wall
Drop Off Can
Dance

14. Conclusion I Learned a lot New Processor Interfacing New Sensors
Learned to Appreciate Sleep