1. Robot Report “Emerson” Crawford Hampson EEL5666: IMDL April 8, 2010

2. Robot: “Emerson” Autonomous robot capable of using wall outlets to recharge itself

3. Sensors Bump sensor plates –Radio Shack switches IR sensors –Sharp medium-range sensors (obstacle avoidance) –Sharp short-range sensors (wall-following) Battery voltage –Voltage divider Electromagnetic –Op-amp detector circuit with signal conditioning

4. Actuators Y-Z stage –Linear actuators Bipolar stepper motor Hacked servo

5. Behavior Obstacle Avoidance –Bump sensors LS, LF, RF, RS differentiation –IR Detect obstacles Fuzzy logic speed control Wall following Detect wall outlets

6. Conclusion Problems with linear actuator fabrication slowing things down, but should be running by Demo Day Left to do: –Finish actuator –Integrate software behaviors –Refine

7. Questions?