1. P14215 AUTONOMOUS WANDERING AMBASSADOR Michael Gambino – Hardware Specialist Nick Nguyen – Software/ Hardware Specialist Apurva Shah – Project Leader Peichuan Yin – Electrical Specialist

2. What is the project about? PROJECT OVERVIEW The objective of this project is to modify a currently remote controlled robot so that it should have the capability to navigate autonomously without causing harm to any person or damaging any objects in its path.

3. CUSTOMER REQUIREMENTS Customer Rqmt. #ImportanceDescriptionComments/Status CR110Detect RFID tagsUse RFID tags to use tracking of zones on the robot CR29Avoid Obstacles Use different sensors so the robot can navigate through obstacles CR36Move at human walking speedUsing a different gear ratio CR47Allow user interaction Essentially put some sort of camera on the robot for streaming CR510Test P13215 specificationsGain familiarity with all boards CR610 Move autonomously from one point to anotherAvoid obstacles when moving to a different RFID tag CR79Manual ControlAdapt remote control using a PS2 controller CR88 Compute fastest route to the next RFID tagsUse arduino math to compute fastest route

4. ENGINEERING REQUIREMENTS rqmt. #ImportanceSourceFunction Engr. RequirementUnit S18CR3Robot SpeedSpeed of about 0.3 m/sm/s S28CR1RFID UnitAble to recognize robot's location S310CR2IR Sensors (short range) Able to detect object from 0 to 1 feetV/m S49CR2Sonar Detection Robot functions as expected when an object obstructs the path of the robot.in S59CR5Verify robot's current functionalityrevise and verify the code S64CR4Webcam system Stream video at least 30 fps at 720pbit/sec S78CR6Controls accuracy Ensure that turning and distance traveled are accurately monitored by robotmm S8 CR6, CR8Pathing system able to calculate the shortest path in give area S9 CR7Control system improvement long range control system without delay or interuptm

5. FUNCTION DECOMPOSITION

6. SYSTEMS DESIGN

7. BUDGET CONSTRAINTS ItemDistributorQuantityUnit CostTotal cost PN532 NFC/RFID controller breakout boardAdafruit.com139.95 $ 50.73 Encoder Opt. Rotary 64PPRdigikey.com225.55 $ 58.28 TI LED Lighting DriversMouser.com24.26 $ 27.06 Arduino MicroAdafruit.com122.95 $ 30.66 LSM303D 3D Compass and AccelerometerPololu.com114.95 $ 24.40 SRF02 Ultrasonic Rangerwww.robot-electronics.co.uk615.99 $ 135.88 Teensy 3.1Sparkfun.com219.95 $ 39.90 AltIMU-10 Gyro, Accelerometer)Pololu.com117.95 $ 17.95 Infrared Proximity Breakout - VCNL4000Sparkfun.com19.95 $ 9.95 74AHCT125 - Quad Level-Shifter (3V / 5V)Adafruit.com51.5 $ 7.50 MiFare Classic (13.56MHz RFID/NFC) Clear TagAdafruit.com252.25 $ 65.87 Rocker Switch (RadioShack)RadioShack14.76 $ 4.76 5V voltage regulator LM7805CTMouser.com100.46 $ 4.60 PNP MOSFETSMouser.com100.912 $ 9.12 NPN MOSFETSMouser.com100.842 $ 8.42 Quad 2-Input OR logic ICMouser.com100.354 $ 13.14 Sharp Ananlog Distance Sensor 10-150cm, 5VPololu.com1210.95 $ 136.85 ADS1015 12BIT 4 Channel ADCAdafruit.com49.95 $ 53.64 Total$698.71

8. RISK ASSESSMENT IDRisk ItemEffectCause Likelihood Severity Importance Action to Minimize RiskOwner Describe the risk briefly What is the effect on any or all of the project deliverables if the cause actually happens? What are the possible cause(s) of this risk? L* S What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the risk of this occurring? Who is responsible for following through on mitigation? 1 Speed Feature If the robot is too fast we may not be able to brake quickly. Potential danger. Possibly injury to people and damaging objects 339 Reduce the speed of the robot, but also travel at an optimal speed. Hardware Specialist 2 Failure of sensors Possibly run into an object or person. Robot malfunctions and causes damage to sensors.236 Make sure all code is monitoring properly and have back up sensors. Software Specialist 3 Failure to find location of robot Possibly lost robot or final destination not reached. RFID positioning fails or RFID sensor frequency is not strong enough. Encoders fail.224 Make sure encoders are functioning. Test the strength of signal for RFID.Project Leader 4 Battery Failure Robot will not move. Need new batteryLife cycle224Plan for battery failureManufacturer 5BudgetAsk for more moneyPoor planning122Plan better and be efficient.Project Leader 6 Knowledg e Not be able to complete taskAiming too high232Understand our knowledge and learning curveEveryone 7 Motivatio n, DesireNot wanting to workTeam problems122 Talk through problems and keep asking questionsEveryone

9. SCHEDULE

10. MSD I Review and DesignConcept EvaluationManual ControlImagine RIT MSD II Sensors ImplementationAutonomous Function DesignDebug and TestDocumentation

11. SENSORS INSTALLATION Sonar x6 IR x10 Encoder x2 Camera RFID IMU

12. SENSOR VERIFICATION InchesRaw Data 1593 2873 3860 4735 5599 6519 7483 8437 9399 10352 15214 20133 25112 3093

13. END USER INTERFACE

14. FUTURE OPPORTUNITIES Outdoor NavigationFacial RecognitionUser InteractionExtend RFID RangeMore

15. THANK YOU Q & A