1. Team Spot A Cooperative Robotics Problem A Robotics Academy Project: Laurel Hesch Emily Mower Addie Sutphen

2. Project Goal Develop a team of autonomous robots that will, within a fixed boundary: –Communicate with each other –Locate a spot of light on the Robotable –Follow the spot of light as it moves across table

3. Last Semester Lego Prototype 1 mobile Lego RCX robot 2 stationary Lego RCX robot Stationary RobotMobile Robot

4. Last Semester First Prototype Team of 1 mobile and 2 stationary robots. PVC Body PIC chip microprocessor IR communication

5. This Semester Development Process –Prototype Evaluated first semester prototype Prototyped new robots –Programming and EE Design Added complexity to the problem Developed new and more accurate algorithms Developed more accurate communication system –Production Modified prototype Final build

6. Meet the Robots Lucy, Ray and Zoolander Lucy Ray Zoolander

7. Completed Robot Team Old Elements –PIC chip microprocessor Reliable and easy to use. –Robot Motors and wheels New Elements –Body New, robot friendly, body design Sleek Lexan Material –Communication Long range bluetooth More reliable communication –Programming New computation algorithm

8. Product Research Mobile robots, autonomous robots, robot teams Robot Body Design Communication between robots Microprocessors

9. Electrical OOPic Chip Programming Language: Object Oriented Basic 31 I/O pins and additional voltage sources for device interface. Voltage source used for Bluetooth communication, the servo motors, and the photo-resistor circuits.

10. Electrical Motor Control Microprocessors control all servo motors Due to highly variable torque- constant motion across motors has not been established Robot Motion –Controlled pulses sent to servo motors –Mobile Robot: Calculated using a set of trig functions (will be discussed later) –Stationary Robot: Determined through trial and error

11. Electical Light Sensing Simple photo-resistor placed in series with a resistor –Output voltage measured at the junction of the two resistors Voltage level inputted to microprocessor using the analog to digital converter Accuracy hampered by ambient light spots brighter than the spot being sought.

12. Algorithms Flowchart of Functionality Stationary robots scan for position of brightest light. The position of the greatest spot is transmitted via Bluetooth to the mobile robot. Mobile robot reads in light value Interprets value using trig functions Mobile Robot moves to correct position

13. Algorithms Stationary Robot Algorithm: 1 Goal: –Determine location of spot of greatest light intensity –Convert location into angle measure –Transmit angle measure to mobile robot via Bluetooth (to be discussed later)

14. Algorithms Stationary Robot Algorithm: 2 Method: –Sweep through 90 degrees –Number of stops depends on strength of battery –Store location of greatest light and covert to the range accepted by the OOPic sine function

15. Algorithms Mobile Robot Algorithm: 1 Goal: –Given angle measurements from stationary robots compute location of spot of light –Advance to spot of light –Find new spot of greatest light intensity –Follow new spot

16. Algorithms Mobile Robot Algorithm: 2 Method: –Using sine functions on OOPic chip calculate location of spot of light –Advance to spot of light using pulses of motor –Once at spot of light, rotate 360 degrees to find the new spot of greatest light intensity –Follow the new spot by keeping the light between the three light sensors on front

17. Algorithms Mobile Robot Algorithm: 3

18. Communications The need for wireless Goal: –Send angle measurements serially between stationary and mobile robots. First Semester: Infrared communications Second Semester: Bluetooth communications

19. Communications Infrared Serial infrared communication was attempted in the first semester. Problems: –The range was too small. –Significant accuracy problems. –True serial communications was not established, meaning that pulses representing angle measurements had to be sent. –This adaptation added an additional level of inaccuracy.

20. Communications Bluetooth Bluetooth is a open platform communications protocol for short distance, high throughput, low power communications. Advantages: –Range up to 30 feet. –A master device can potentially connect with up to 8 slave devices at a time. –Each device has a unique 48 bit address, which results in highly accurate identification. –Bluetooth is also very low power (1mW)

21. Communications Bluetooth Operation

22. Mechanical Motors and Gearing Hitech HS-422 Motors –Purchased from Lynx Motion –Modified for continuous rotation Gearing –Removed internal gear –Geared down stationary robot motors

23. Mechanical Body Design Last semesters design large and bulky –Square shape interfered with light sensing Developed round design –In scale with Robotable –Concurrent with light sensors –Better mobility

24. Mechanical Second Prototype – Mobile Robot

25. Mechanical Stationary Robot Drawings

26. Mechanical Mobile Robot Drawings

27. Mechanical Second Prototype

29. Mechanical Final Design RayZoolanderLucy

30. Opportunity for Future Research Continuing Bluetooth robotic applications Implementation of full Bluetooth functionality Algorithms to find multiple spots Integration of chemical “nose” Expansion of robot team Integration of multiple robot teams

31. Special Thanks James the Bluetooth Man Warren Gagosian Chris Rogers Matt Dombach Jim Hoffman Robotics Academy Professors TUFTL lab

32. Demo Cross your fingers