1. Southeastern Conference 2014 Final Presentation

2. The Team Alex Holeczy Computer Engineering - Navigation - Debugging Thomas McCollum Electrical Engineering - Gun Design - Platform Assembly Khanh Nguyen Computer Engineering - Light Detection - Website Rebecca Rougeau Electrical Engineering - Distance - Hardware Logan Shannon Electrical Engineering - Gun Design - Targeting Katie Williams Electrical Engineering - PCB Design - Research Dr. Robert Reese Advisor

3. Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

4. Competition Overview- The Course 1. Starting Zone 2. Shooting position 3. Target 4. End Zone Tasks: -Light/Object Detection -Accurate Aiming -Gun Firing -Autonomous [1]

5. Competition Overview- Format Qualifying Rounds o Robot must move minimum of 1’ o Pressure must be gauged and approved Competition Round o Three 2 minute heats o Heats’ scores are summed together o Top 8 teams advance Final Round o One 2 minute heat under normal judging conditions o Tiebreaker round in the case of tie

6. Competition Overview- Scoring 25 points - Robot leaves starting position 50 points - First correct stop at firing block 300 points/block - Dart clears target 25 points -Robot stops in end zone 1 point/second - Completion under time limit

7. Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

8. System Design

9. Robot 1. 4400 mAh Battery 2. Breadboard 3. Linear Actuators 4. Servo-controlled Gun Platform 5. Line Follower/Ultrasonic Sensor Mount 6. Motors/RGB Sensor (underneath)

10. Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

11. Practical Constraints- Sustainability ●Battery life far exceeds competition time limit ■ 300 mA for PIC24H ■ 675 mA for Raspberry Pi Model B with Camera ■ 500 mA/each for servos and linear actuators ■ 30 mA for SRF04 Ultrasonic Sensor ■ 100 mA for line follower ■ 3A for motors ○ Battery rating is 4400 mAh ○ Therefore, battery life is approximately 40 minutes Rechargeable battery to reduce cost

12. Practical Constraints- Sustainability Durable Plastic used for guns ■Lightweight (0.64 pounds before modification) ■Requires strong force to break ■Repeatable ● Accurate after 200+ shots ● Maximum range approximately same after 200+ shots ● Plexiglass Platform ■0.25” thick ■Pivot pressure reduced by aluminum sheet metal ■Supported by 0.25” all-thread beams ● Digital titanium-gear servos

13. Practical Constraints- Manufacturability Modular Design o Base o Gun Platform

14. Practical Constraints- Manufacturability PCB design o Breakout board

15. Practical Constraints- Manufacturability Open layout for easy part modification or replacement

16. Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

17. Technical Constraints NameDescription NavigationThe robot must navigate the course autonomously. Light and Location Detection The robot must recognize green start LEDs, shooting blocks, and the finish zone. Aiming/Dart FiringThe robot must accurately fire 3 darts through a hoop. SpeedThe robot must complete the course in < 60 seconds to earn bonus points. SizeThe robot must not exceed 1’x1’x2’ at any point in the competition.

18. Autonomous Navigation QTR-8RC reflectance array sensor o 8 sensor pairs o Sense reflected light o PID control algorithm [2]

19. Navigation Line follower placement on robot Displacement on line [2]

20. Navigation

21. Navigation- Intersections and Turning All or most sensors show line found Continues forward for a short time before turning left Turn from rightmost sensor detecting line to leftmost sensor detecting line [2]

22. Location Detection Line Follower o Blue firing blocks and red end zone seen as white line o Detection same as intersection detection 3 second pause 180 degree turn

23. Light Detection Adafruit TCS34725 RGB Sensor o Color light-to-digital converter

24. Light Detection

25. RGB sensor mount setup

26. Aiming- Distance Sensing Devantech SRF04

27. Aiming- Distance Sensing

28. Aiming - Dead Reckoning

29. Aiming- Center Line

30. Aiming 2 metal gear servos

31. Dart Firing Nerf N-Strike Elite Firestrike guns Linear Actuators 3 Firgelli Linear Actuators Metal Gear Servos

32. Speed ●2 minute time limit ○ 6.55 cm/s ●Goal: <1 minute ●With gun platform, course completion approximately 38 seconds with motors running at 55%

33. Size Robot must fit within a 1’x1’x2’ volume Height = 15.75” Width = 9” Length = 10.75”

34. Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

35. System Testing Integration of Navigation and Gun systems Verify that robot can: o Navigate autonomously o Detect variable firing position o Aim o Fire dart

36. Completed Prototype

37. Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

38. Timeline AugustSeptemberOctoberNovemberDecember Course Construction and Strategy Research and Purchasing Programming Debugging Prototype

39. Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

40. Future Goals Print and Populate PCB

41. Future Goals Incorporate Camera/Image Processing onto Prototype for Aiming Calibration Finalize Rainy Day Case Solutions Optimize Design [3]

42. References [1]IEEE Southeastcon 2014 Student Hardware Competition Rules. http://ieee.engineering.uky.edu/files/2013/04/Revision2.pdf. http://ieee.engineering.uky.edu/files/2013/04/Revision2.pdf [2] “Line Tracking Sensors and Algorithms.” IKA Logic [online]. http://www.ikalogic.com/line-tracking-sensors-and-algorithms/. Nov. 19, 2013. http://www.ikalogic.com/line-tracking-sensors-and-algorithms/ [3] “Raspberry Pi Camera Board.” Adafruit Industries [online]. Available: http://www.adafruit.com/products/1367. Nov. 17, 2013.http://www.adafruit.com/products/1367

43. Southeastern Conference 2014 Final Presentation