1. ECE 477 Final Presentation Group 10  Spring 2005
Jer-Wei Lam(Sean) Jacinto Chang Ming Sum Wong Kevin Muthuri
Web:

2. Outline Project overview Block diagram Professional components
Design components
Success criteria demonstrations
Individual contributions
Project summary
Questions / discussion

3. Project Overview Robotic Waitress project
Deliver food to designated table autonomously
Comprises of two major components – robot and control center
Tables’ coordinates file stored on the PC allows remote control of the robot from control center
Robot’s navigation algorithm enables smart table-to-table navigation
Avoid obstacles using IR sensors

4. Block Diagram

5. Professional Components
Constraint analysis and component selection rationale
Patent liability analysis
Reliability and safety analysis
Ethical and environmental impact analysis

6. Constraint Analysis Computational Requirements
Managed in the microcontroller
Large SRAM
Interface Requirements
Servo Motors
IR Sensors
RF communication
LCD, buzzer
Power Supply Constraints
Current draw of…..
Packaging Constraints
Cost Constraints

7. Patent Liability Analysis
Similar Projects
“Robotic Waitress MeiMei” at Tohoku University
“Robotic Waitress” at the University of Rochester
Searched on the US Patent and Trademark Office
-None found
No patent is infringed by our project

8. Reliability/Safety Analysis
Kevin

9. Ethical/Environmental Analysis
Sean

10. Design Components Packaging design considerations
Schematic design considerations
PCB layout design considerations
Software design considerations

11. Packaging Design Robot: Mark III Robot Chassis
2 Wheels, wedge for support
Bright RED wheels
8 inch-diameter round tray
Custom mount for LCD display
Robot base approx 5” X 4”
Control Center:
RadioShack Project Box
Size approx 3” X 2” X 1”

12. CAD - Packaging

13. Schematic Design
Overview of Main Module Schematic

14. Schematic Design
Reset Circuitry
Overview of Main Module Schematic

15. Schematic Design
Overview of Main Module Schematic

16. PCB Layout Design
Main Board PCB Layout

17. PCB Layout Design
Control Center PCB Layout

18. Software Design – Functionality
Control Center
- Select tables
- Display status and alerts
Microcontroller
- Display status on LCD
- Move to the desired table
- Detect obstacles and Food
- Send alerts back to PC

19. Software Design - FlowChart
Main Initialization
Self-diagnosis routine No
Acknowledge/Send Alert to PC
Any input data from USART?
Yes
Food Taken? Obstacle Detected? Movement Done? Execute Movement
Yes
Decode Instruction No

20. Software Design – Change of Software Approach
Original Approach
- PC calculates route and tells robot how to move
Current Approach
- Routes are stored in robot
- PC tells robot which table to go

21. Success Criteria Demonstrations
Project-specific success criteria #1 - demo
Project-specific success criteria #2 - demo
Project-specific success criteria #3 - demo
Project-specific success criteria #4 - demo
Project-specific success criteria #5 - demo

22. Individual Contributions
Team Leader – Sean Jer-Wei Lam
Team Member 2 – Ming Sum Wong
Team Member 3 – Kevin Muthuri
Team Member 4 – Jacinto Chang

23. Team Leader – Sean Jer-Wei Lam
Programming Robot
Motion & Sensor functions
Diagnostics
Component Research
Packaging Design & Fabrication
Board Population
Webmaster
Testing and Debugging

24. Member 2 – Ming Sum Wong Programming Software
Control Center Application
Synchronization Mechanism
RF & Control Logic Functions
Component Research
RF Prototyping and Research
RF Communication Prototyping
Testing and Debugging

25. Member 3 – Kevin Muthuri Programming Robot Synchronization Mechanism
RF & Control Logic Functions
Component Research
RF Communication Prototyping
PCB Layout Design
Testing and Debugging

26. Member 4 – Jacinto Chang Implemented Navigation Algorithm
RF Communication Prototyping and Protocol
Component Research
Board Population
Schematic
Testing and Debugging

27. Project Summary Important lessons learned: RF is noisy and unreliable
For PWM to work, an extremely accurate clock is necessary
Total current draw calculations are critical
Must always double check Shematic diagrams and PCB Layouts
Wheel slippage due to insufficient traction
Check for cold solder joints
Prototyping is expensive

28. Project Summary Second iteration enhancements:
Better positioning system with sensors on the table for location feedback
Use wider wheels for better traction
Provide keypad for food ordering
Voice synthesizer
Human voice recognition

29. Questions / Discussion