1. Trash2D2 Oral Report 3 IMDL David Mercado

2. What is Trash2D2? Perfect for parties – avoid cleanups! Robotic Garbage Can ▫Travels Room ▫Avoids Furniture ▫Receives Trash ▫Automatic Lid ▫Signaled to Door on Garbage days Roomba-inspired

3. Main Components Plastic Garden Pot ▫Reduced Size Prototype ▫Fits Grocery Bags Wooden Platform, Supports, & Hinged Lid Microprocessor – Arduino Due NiMH 7.2V Battery Enable Switch

4. Mobile Platform Pololu DC Gearmotors (2) ▫75 RPM, 85 oz-in Motor Speed Controllers 70 mm Wheels w/ Hub (2) 1” Caster Wheels (2) Paddles & Switch Buttons (2) IR Sensors (5) ▫Center, Left, Right ▫Top & Bottom of Lid

5. Summary of Functions Default: Collect Garbage Motor-Driven: ▫Roam & Avoid Obstacles ▫Open Lid At Hand Wave & Full Bag Detection Special Sensor System: ▫Detect Presence of High Frequency Sounds ▫Go to Origin of Sound

6. IR-Based Functions Obstacle Avoidance ▫Upcoming: IR - front center, left, right ▫Collisions: Paddles with Bumper Switches Open Lid - Hand Detection ▫IR at Top of Lid

7. IR-Based Functions Open Lid – Full Bag ▫IR at Bottom of Lid ▫Reset Required Hinged Lid Servo with Arm Pushes Lid Open

8. Special Sensor: Frequency Filter Electret Microphone ▫2 Microphones (Left/Right) Homing Emitter @ 8 kHz Analog High-Pass Filter ▫Allows above 7 kHz ▫2 nd Order Op-Amp Circuit ▫Over 100x amplification

9. Special Sensor: Location Orientation Orientation of Sound ▫Rotate towards stronger signal – right vs. left microphone ▫Constant Alignment ▫Obstacle Avoidance Volume = avg(Max – Min) Styrofoam Dish Receptors Stops at Emitter Location

10. Trash2D2’d Ideas Drawstring Pulley ▫Small prototype does not hold drawstring bags ▫Feature deemed unimportant Station at Corners ▫Easy to implement, but continuous roam is better LED Signals ▫Open lid is enough visual signal