1. Hide-n-seek Robot Ivan See & Karen Tsang Presentation Date: 9/18/03

2. Objectives A robot that recognize and search for tangible objects and carries the correct object back to the original location Involves servomotor control, DC motor control, image processing, PDA programming, and ultrasonic sensor utilization

3. Overview 1. User shows targeted object in front of the robot’s camera 2. Robot takes a picture of the object and stores it in its memory 3. User hides the object within ultrasonic- reachable area and press the “Go” button on the robot

4. Overview (cont.) 4. Robot starts searching for the object by using its ultrasonic sensor 5. Robot approaches sensed object and recognize if it’s the correct object by using its camera 6. Robot grabs on the object and brings it back to the start position

5. Parts Arrangement

6. Block Diagram

7. User Interface User interacts with the Palm which will be mounted at the back of the robot “OK” button will be shown on the screen of the Palm for starting the initial photo taking procedure “Go” button will be shown on the screen for starting the searching procedure “Reset” button will be shown on the screen for restarting all the procedures

8. Specification 1.5m radius ultrasonic effective area 320 x 240 image processing resolution Travels approximately 1ft/sec Hold targeted object in arms up to 0.5lb Final returning position error < 1ft 2

9. Specification Only objects in symmetrical shapes will be used Only floor in plain color will be used for testing to avoid image background confusion (No patterns are allowed on the carpet) Sufficient light source to avoid too much shadow area appear under the target object No obstacles allowed in operating area

10. Ultrasonic Range Finder SRF08 Voltage5V only Current15 mA typical, 3 mA standby Frequency40 KHz Range3 cm (~1") to 6 m (~20 ft.) TimingFully time echo, freeing host controller of task EchoMultiple echo for velocity determination ConnectionStandard IIC bus UnitsRange reported in uS, mm, or inches By Devantech Uses sonar to detect objects Detects up to 16 returning echoes Built-in light sensor

11. Object Location Algorithm

12. Image Processing Algorithm

13. Compare pixels one by one Pixel is valid if color value is within tolerance ranges Validity of an entire image is considered by a certain percentage of valid pixels

14. The foot DC Motor Module from the “Rumble Robots Invasion” Motor A drives two wheels on the right, while Motor B drives two wheel on the left Forward, backward, turn left or right Make 0 degree radius turns Driven by SN754410 Motor Controller IC from Texas Instruments

15. The foot

16. Test Plan Targeted objects such as apple, orange, and lemon will be used to check if the robot will be able to distinguish between objects in different color Accurately locate itself in front of the targeted object after searching Make sure target object is hold in arms while moving Return to original position with in 1ft 2 error

17. Work Completed Acquired all hardware components Downloaded Palm emulation software for Palm software development Acquired reference books for programming Palm in C Dissembled and investigated “Rumble Robots Invasion” from Toys R Us Acquired DC Motor wheel module from “Rumble Robots Invasion”

18. Work to be done Assemble arms with servos and optical sensor (Ivan/Karen) Build DC motor controller circuit with motor controller chip and PAL chip (Ivan) Install Palm and HC12 on plexiglass rack on the robot (Ivan/Karen) Investigate SRF08 ultrasonic sensor and its IIC interface (Karen) HC12 code write up (Karen) Palm code write up (Ivan) Investigate SD camera interface with Palm (Ivan)

19. System Cost Palm m130$130 SRF08 Ultrasonic sensor$55 Motorola HC12$160 (provided) Servomotors x 4$60 (provided) Motor controller IC SN754410$5 Palm serial cable$15 Veo SD Camera for Palm$60 Rumble Robots Invasion$15 Plexiglass for base$2 Aluminum Bar for arms$3 Screws and other mountings$2 Optical Sensor x 2$5 (from IDE class) Batteries AA X 4$3 Total$290

20. Questions? Comments? Suggestions?