1. JEEVES the Robot Butler
A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment
JEEVES the Robot Butler
Team JEEVES
Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed Ebadi

2. Current Status Ultra Sonic Sensors working DC motor movement
Chassis implementation
Hameed Ebadi

3. Milestones Milestone I 3 weeks away PCB complete (perhaps minor bugs)
Robot able to maneuver through user command
Calibration system implemented
Shaft extender for motor
Milestone II
6 weeks away
Bug free PCB
Robot able to detect beacon signal and traverse to it
Dynamic Object Detection
Hameed Ebadi

4. Capstone EXPO Goals 9 weeks away Beacon detection
Path finding algorithm w/ object detection implemented
Capstone
EXPO
Hameed Ebadi

5. Functional Decomposition
Robot Level 1
Hameed Ebadi

6. Functional Decomposition
Motors Level 2
Hameed Ebadi

7. Functional Decomposition
State Machine Level 3
Daniel Steffy

8. Functional Decomposition
Path Finding Level 4
Daniel Steffy

9. Functional Decomposition
Remote Level 1
Daniel Steffy

10. Functional Decomposition
Base Station Level 1
Daniel Steffy

11. DC Motors GM9232C113-R1 24V DC motor 65.5:1 Ratio Pittman LO-COG
Roughly 120 RPM
Chris Pearson

12. Motor Driver High-Power Motor Driver 15 Amp, 30 Volt rating
Direction pin
PWM input/output
Basic fault protection
Chris Pearson

13. Wireless Motor Control
Chris Pearson

14. MSP430F169 Integrated UART Hardware driven PWM 3.3V logic output
Integrated ADC for sonics
Chris Pearson

15. LV-MaxSonar®-EZ1™ High Performance Sonar Range Finder
Alissa Halvorson

16. LV-MaxSonar®-EZ1™ High Performance Sonar Range Finder
6-inches to 254-inches
interface output formats
Pulse width output
analog voltage output
serial digital output
Alissa Halvorson

17. Ultra Sonic Sensor Analog Output Alissa Halvorson Distance (in)
Calculated Distance (in) 3
6.68 5 7
7.625 10
9.608 12
11.583 15
14.6 18
17.495 20
18.557 24
24.02
Vout
Calculated Distance (in)
71.8
6.68
81.9
7.625
103.2
9.608
124.4
11.583
156.9
14.6
187.9
17.495
199.3
18.557
258
24.02
Alissa Halvorson

18. Waveforms
Max Distance
Digital Output
12”
24”
Alissa Halvorson

19. Directional Antenna
Bogdan Pisica

20. Revised Division of Labor
Task
Alissa
Bogdan
Chris
Danny
Hameed
Electrical
Controls
Sensors X
Comm
PCB
Power
Software
Path Finding
State Machine
Device Interfacing
Debugging
Mechanical
motors
wheels
antenna  X
chassis
System
Integration
Testing
Documentation
Bogdan Pisica

21. Parts List Part Description Price ($) Comm System Xbee Series 1 75
Micro-Controller System
MSP430
150
Directional Antenna 20
Foxhunting Antenna System
Motor System
Batteries/Power
Motorcycle/9v/Wall
100
Sonic Sensors
PING))) Ultrasonic Range Finder
RFID System
PCB
Mechanical
Wheels/Chassis
Printing
Expo Docs
Misc
200
TOTAL
1048
Bogdan Pisica

22. Questions?
Bogdan Pisica