1. Michael McGrath IMDL 10-23-2012 Professors: Dr. A. Antonio Arroyo Dr. Eric M. Schwartz TA’s: Josh Weaver Tim Martin

2.  Scope: Develop an autonomous putting robot  Hope to gain software, electrical, and mechanical design experience  Approach: IP camera; Simple Pendulum; sonar  Completed platform construction, some testing  Issues with sonar  Object avoidance, image capturing from IP cam, complete system testing

3.  Mobile Platform  2 DC motors for drive train/steering  2 sonar sensors for obstacle avoidance  Stepper motor for putter actuation  IP camera for color tracking  Separate servos for pan/tilt

4. 2 tier design 2 wheel differential steering, 3 wheels total Approximately 18” wide, 14”tall and 12”deep

5. 57 RPM 172:1 Gear Ratio 260 oz/in stall torque 6V, 6A stall power Perfect fit for Pololu wheels

6. Program that decreased Motor effort by increments of 50 until no motion, then last increment again by 5 until no motion Result: 575 minimum

7. 4-500 cm detecting range 1 cm resolution Capable of 40 Hz sampling frequency 9-pin design Require manual trigger via software

8. Program to trigger sonar and display signal every 200 ms Result: random values

9. 416 oz/in torque sustainable Output step angle ~0.07 deg Maximum speed of 23 RPM

10. 0.3 Megapixel color camera 30 frames per second Built in pan/tilt External servos will be used for pan/tilt

11.  Motor tests reveal effort value of >575 must be used  Sonar sensors were cheap, but you get what you pay for – poor documentation and difficult implamentation  Easy to set up camera & display images  IP code is confusing – limited testing time

12.  Complete obstacle avoidance  Begin gathering images from IP camera through OpenCV  Much experimental testing with golf ball recognition, target detection and ranging