1. CS Team: ECE Team: Reckoning IEEE Region V Robotics Competition Cody Mass, Jared Saul David Ameh, Lance Martin, Nick Schlag CS 425 Senior Project Design, Fall 2009 1

2. Client & Competition We’re going to Disneyland Texas! 2 Gaylord Texan Resort and Convention Center, Grapevine, TX

3. Our Goal Toxic waste disposal is totally our area of expertise (...right?) “…The task this year is to construct a land-based robot which can autonomously transport toxic containers from multiple locations to a remote processing area. … Each team must design and build an autonomous robot that can detect and transport a container from 4 corners of the course to the assigned square area in the center of the course. The robot must visit all 4 corners and transport all 4 cargo containers to their correct positions, but the desired order of visitation will be decided on the day of the competition and will vary from round to round.” 3

4. Our Goal Wait...there are rules? Course: –8’ x 8’ Field –Randomly-placed obstacles Cargo containers: –3” cubes, 150 grams Robot: –1’ L x 1’ W x 2’ H, less than 50 lbs. The competition: –1 minute to prepare the robot –3 minutes to perform the task 4

5. Hardware Components Float like a butterfly, sting like a $135 robot 5

6. Hardware Components Everything but the kitchen sink Gumstix PSoC WebcamLaser Touch Screen ArmWheels 6

7. Hardware Components When we say “move”, the ECE team says “How far?” The Gumstix (microcontroller) will send a movement request to the PSoC (created by the ECE team) The PSoC will then perform the low-level motor commands: –Move wheels forward/backward –Rotate (move one wheel forward, one backward) –Full stop –Open/close/move robotic arm PSoC ArmWheels 7

8. Hardware Components Turns out a “Gumstix” isn’t a candy bar Overo Fire Gumstix: –600 MHz, 256MB RAM, 256MB Flash –Includes 802.11(g) and Bluetooth Summit expansion board: –USB OTG mini-AB, USB host mini-A, DVI-D (HDMI), USB Serial Console, many other ports and lines for the PSoC Gumstix WebcamLaser Touch Screen 8

9. Hardware Components And if there’s still room left over, maybe a coffee machine, too... Webcam: –Use for image gathering/processing Laser: –High-quality proximity detection at various angles Touch screen: –Not set in stone, but would be useful for preparation Gumstix WebcamLaser Touch Screen 9

10. The Users …of an autonomous robot? There’s really only one type: us! –Creators –Designers –Coders –Operators Since the robot must be autonomous, there is no “end user” 10

11. Development Environment Because programming in assembly would simply take too long Operating system: –Linux Programming language: –C–C –C++ Libraries: –OpenCV will provide image processing for the webcam’s data Getting the code there: –Wireless subversion 11

12. Timeline In addition, May 2010: Victory celebration 12 Oct. 2009 Nov. 2009 Dec. 2009 Jan. 2010 Feb. 2010 Mar. 2010 Apr. 2010 ECE Team: Have ideas of command set ECE Team: Define Command Set and Parameters Begin ImplementationCompetition: April 16/17, 2010 Additional short-term goals: –Successful movement –Localization algorithms –Grab/transport objects –Troubleshooting

13. Applicable Patterns Note: Stand-Up Meeting may not require actual standing 13 Stand-up Meeting: –The project is changing fast, so Cody and Jared meet before every class Standards Linking Locations: –We give the ECE team the prototypes of our motor functions, so they can code them Face to Face Before Working Remotely and Lock ‘em Up Together –The project’s initial structure is decided through Friday meetings

14. Past Competitions Learning from other peoples’ mistakes can be fun! The winner of last year’s competition An excellent collection strategy Our team’s website: –http://sp.cs.siue.edu/2009/3/7/website/index.htmlhttp://sp.cs.siue.edu/2009/3/7/website/index.html 14