1. Midterm Presentation

2.  Meet the Team  Competition Overview  Design Constraints  System Design  Approach & Tradeoff Analysis  Progress and Prototype  Timeline

3. Jackson Knott Electrical Engineer PIC Programming Hardware Brian Lampkin Electrical Engineer Vision Programming Hardware Matt Watts Electrical Engineer PIC Programming Debugging Matt Williams Electrical Engineer PIC Programming Hardware John Morrison Electrical Engineer PIC Programming Debugging Ian Turnipseed Electrical Engineer Vision Programming Research Dr. Robert Reese Advisor

4.  Meet the Team  Competition Overview  Design Constraints  System Design  Approach & Tradeoff Analysis  Progress and Prototype  Timeline

5. IEEE SoutheastCon 2013 Hardware Competition - Jacksonville, FL Required Tasks: Block Color/Size Recognition Zone Color/Size Recognition Pick Up Blocks Deliver Blocks Autonomous Navigation Competition Specifications: Three Separate Loading Zones Fourteen Cargo Blocks Five Minute Time Limit Unbounded Ramp Size-Limiting Starting Zone for Robot [1]

6.  Meet the Team  Competition Overview  Design Constraints  Technical  Practical  System Design  Approach & Tradeoff Analysis  Progress and Prototype  Timeline

7. NameDescription Multiple Block Carrier The robot must carry the maximum allowed number of blocks. NavigationThe robot must navigate the course autonomously. DetectionThe robot must detect color and size of blocks and spaces. SpeedThe robot must travel at a speed of 0.4 feet/second. SizeThe robot must be no larger in size than 12”x12”x16” [1]

8.  Meet the Team  Competition Overview  Design Constraints  Technical  Practical  System Design  Approach & Tradeoff Analysis  Progress and Prototype  Timeline

9. TypeName ManufacturabilityModular Design SustainabilityBattery Life

10.  The layout of our robot should have easily exchangeable parts in order to be able to replace parts quickly. Emergency Plan for Competition Easy Maintenance

11.  The robot must have a rechargeable battery that can last for a minimum of fifteen minutes. Preparation Time for Competition Troubleshooting Available for Multiple Rounds

12.  Meet the Team  Competition Overview  Design Constraints  System Design  Approach & Tradeoff Analysis  Progress and Prototype  Timeline

13. Microcontroller CPUSensors Camera Grippers Motors

14.  Meet the Team  Competition Overview  Design Constraints  System Design  Approach & Tradeoff Analysis  Progress and Prototype  Timeline

15. CHOICESPROSCONS Mini-ITX with Camera-Detect Size/Color Simultaneously - Detect Block Location Relative to Grippers - High Power Consumption - Heavy RGB Sensors with Array of IR Line Sensors - Low Power Consumption - Simple - Light - Needs Closer Proximity to the Blocks - Requires Extra Movement - Must be Precise

16. CHOICESPROSCONS Mini-ITX with Camera-Detect Size/Color Simultaneously - Detect Block Location Relative to Grippers - High Power Consumption - Heavy RGB Sensors with Array of IR Line Sensors - Low Power Consumption - Simple - Light - Needs Closer Proximity to the Blocks - Requires Extra Movement - Must be Precise

17. CHOICESPROSCONS C#- Faster - Better Debug Capabilities - Lengthy Code Python- Simple - Compiles/Runs Simultaneously - Slower

18. CHOICESPROSCONS C#- Faster - Better Debug Capabilities - Lengthy Code Python- Simple - Compiles/Runs Simultaneously - Slower

19. CHOICESPROSCONS Intel Atom D2700- Low Power Consumption - No Forced Air Ventilation - Low Processing Power AMD A75- Low Power Consumption - No Forced Air Ventilation - Cheaper - More Heat - Low Processing Power Intel Core I7- High Processing Power - Integrated Graphics - Required External Air Ventilation - Expensive

20. CHOICESPROSCONS Intel Atom D2700- Low Power Consumption - No Forced Air Ventilation - Low Processing Power AMD A75- Low Power Consumption - No Forced Air Ventilation - Cheaper - More Heat - Low Processing Power Intel Core I7- High Processing Power - Integrated Graphics - Required External Air Ventilation - Expensive

21. CHOICESPROSCONS iStarUSA S-0512-DT Mini- ITX Case - 5” Drive Bay - Aluminum - More Expensive Habey EMC-600BL Mini- ITX Case - Cheaper - Aluminum - Smaller

22. CHOICESPROSCONS iStarUSA S-0512-DT Mini- ITX Case - 5” Drive Bay - Aluminum - More Expensive Habey EMC-600BL Mini- ITX Case - Cheaper - Aluminum - Smaller

23. CHOICESPROSCONS Claw- Easier Pickup/Drop Off - Easier Alignment - Retractable - Could Drop Block Scoop- Fewer Servos Necessary - Unlikely to Drop Block - Harder Pickup/Drop Off - Can’t fully Retract

24. CHOICESPROSCONS Claw- Easier Pickup/Drop Off - Easier Alignment - Retractable - Could Drop Block Scoop- Fewer Servos Necessary - Unlikely to Drop Block - Harder Pickup/Drop Off - Can’t fully Retract

25. CHOICESPROSCONS Sparkfun Robotic Claw ROB-10332 - 2” Clearance - Parallel Arm Movement - Metal-based - Must be Assembled - Small Gripping Area Lynxmotion A-Style Gripper Kit - Parallel Arm Movement - Assembled with Servos - 1.875” Clearance - PVC-based - Small Gripping Area Custom Built Gripper- Built to Specification- Time-consuming

26. CHOICESPROSCONS Sparkfun Robotic Claw ROB-10332 - 2” Clearance - Parallel Arm Movement - Metal-based - Must be Assembled - Small Gripping Area Lynxmotion A-Style Gripper Kit - Parallel Arm Movement - Assembled with Servos - 1.875” Clearance - PVC-based - Small Gripping Area Custom Built Gripper- Built to Specification- Time-consuming

27. CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Dead Reckoning- Simple Task- Less Accurate

28. CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Dead Reckoning- Simple Task- Less Accurate

29. CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 – 30cm) - Readily Available - Must be Placed at Precise Angle SRF08 Ultra Sonic Range Finder - Readily Available- Longer Distances (3-600cm) - Expensive - Possible Interference Omron Micro Switch V-15G3- 1C25-K - Readily Available - Inexpensive - No Interference - Requires Servo for lowering

30. CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 – 30cm) - Readily Available - Must be Placed at Precise Angle SRF08 Ultra Sonic Range Finder - Readily Available- Longer Distances (3-600cm) - Expensive - Possible Interference Omron Micro Switch V-15G3- 1C25-K - Readily Available - Inexpensive - No Interference - Requires Servo for lowering

31. CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Dead Reckoning- Simple Task- Less Accurate Wheel Encoders- Accurate Location- Drifting

32. CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Dead Reckoning- Simple Task- Less Accurate Wheel Encoders- Accurate Location- Drifting

33. CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 – 30cm) - Readily Available - Only detects out to 30 cm SRF08 Ultra Sonic Range Finder - Longer Distances (3-600cm) - Readily Available - Expensive - Possible Interference

34. CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 – 30cm) - Readily Available - Only detects out to 30 cm SRF08 Ultra Sonic Range Finder - Longer Distances (3-600cm) - Readily Available - Expensive - Possible Interference

35. CHOICESPROSCONS 67:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder - 150 RPM @ 12V - Integrated Encoder - High Torque (200 oz-in) - $40/motor Micro DC Geared Motor FIT00016 - 180 RPM @ 12V - Readily Available - $6/motor - Low Torque (26.6 oz-in) - High Rate of Failure

36. CHOICESPROSCONS 67:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder - 150 RPM @ 12V - Integrated Encoder - High Torque (200 oz-in) - $40/motor Micro DC Geared Motor FIT00016 - 180 RPM @ 12V - Readily Available - $6/motor - Low Torque (26.6 oz-in) - High Rate of Failure

37. CHOICESPROSCONS Tamiya Racing Wheels- $6.50/pair - Available in Lab - Weak Grip Pololu Wheel 80x10mm- Strong Grip - Can provide extra support by adding more wheels -$9.25/pair

38. CHOICESPROSCONS Tamiya Racing Wheels- $6.50/pair - Available in Lab - Weak Grip Pololu Wheel 80x10mm- Strong Grip - Can provide extra support by adding more wheels -$9.25/pair

39. CHOICESPROSCONS Ball Casters- Available in Lab- Shorter Overall Height - Possibility of Failure on Ramp Wheel Casters- Greater Overall Height - Available in Lab - Wheel must align correctly for a turn

40. CHOICESPROSCONS Ball Casters- Available in Lab- Shorter Overall Height - Possibility of Failure on Ramp Wheel Casters- Greater Overall Height - Available in Lab - Wheel must align correctly for a turn

41.  Meet the Team  Competition Overview  Design Constraints  System Design  Approach & Tradeoff Analysis  Progress and Prototype  Timeline

44. Added Sonar Sensors for Initial Testing on a Functional Platform

47. Camera Mount for Vision System Navigation Prototype Circuit Ultra Sonic Sensor Infrared Sensor

49.  Meet the Team  Competition Overview  Design Constraints  System Design  Approach & Tradeoff Analysis  Progress and Prototype  Timeline

50. AugustSeptemberOctoberNovemberDecember Strategy and Course Construction Research and Purchasing Programming Circuit Design Debugging Prototype

51. [1] IEEE SoutheastCon 2013 Hardware Competition. Final Version. 11 Sep. 2012. http://ewh.ieee.org/reg/3/southeastcon2013/documents/Final_SECON _2013_Hardware_Rules.pdf http://ewh.ieee.org/reg/3/southeastcon2013/documents/Final_SECON _2013_Hardware_Rules.pdf

52. Questions