1. IEEE Robotics - Requirements Presentation Presented by Jason Abbett and Devon Berry

2. Competition Purpose of the robot Brief overview of the competition

3. Competition Requirements Drive system Navigation sensor(s) Color sensor(s) Manipulator Processor / software

4. Warehouse Layout

5. Time Penalties Container does not remain upright (15 sec) Container moved to wrong room (30 sec) Dropped containers (10 sec) Contact with walls (5 sec) Staying in starting room (disqualified) Leaving course boundary (disqualified) Harmful contact with worker (15 sec) Moving a worker (15 sec)

6. System Requirements 16 inches x 16 inches x 36 inches Autonomous Safety

7. X-port Microcontroller with Development Kit 32-Bit ARM CPU (110 Mhz) FPGA hardware implementation Programmable in C++ 4MB Flash Memory 16 digital input/output ports 8 analog input/output ports 4 motor ports

8. Hardware Architecture Frame – 10’’ x 11’’ x 12’’ – Laser cut Lexan – Stable – Expandable

9. Hardware Architecture Motors Servos Manipulator

10. Hardware Architecture Sensors – Sonar – Light – Camera – Mouse –Touch

11. Hardware Architecture Controller – Inputs – Outputs – Battery Pack

12. Software Architecture Evolutionary Prototype Model

13. Classes Localization –Mouse Light Sensors –Line following

14. Classes Motors –Microcontroller I/O –Forward/Reverse Movement –Turning on a dime

15. Classes Claw –Closes when triggered –Determined by camera and sonar Sonar Camera –Uses RGB values

16. Modules Line following Error correction Locate Can

17. Software Applications XPort sdk package –cygwin bash shell –RTOS (real time operating system) C++

18. Schedule Gantt Chart 9 to 11 man hours needed

19. Obstacles Compass –Accuracy –Interference Debugging –Hardware or Software

20. Process Plan Specifications Programming Testing Delivery

21. Organization Plan Analysis Design –Hardware –Software Programming Testing

22. Test Plan Modular tests Integration tests Track tests

23. Potential Risks Hardware Changes Incomplete Hardware Interface Changes Design Changes Code Changes Team Member Changes Failure To Meet a Deadline

24. Documentation Responsibilities –Team Decision Outlines –Dr. Waxman (or team decision) Contents –Follow outline

25. Training Internal –Upload to XRC –Use eCos External –None (manuals / documentation)

26. Review and Reporting Reviews –Determine project status Reports –Time logs –Status reports

27. Required Resources Manpower Computer Resources Other Resources Required Software –Cygwin –Xport Dev. Kit –Xport eCos

28. Project Status Software –Design –Motor use –eCos threading –Mouse readings Hardware –Motors –Compass (discontinued) –Servos –Mouse –CMU Camera

29. Conclusion Precise, Quick, Sturdy, and Bug Free Support Hardware and Software Changes Modular Implementation following design and testing plans Regular reports and logs