1. The Recycling Robot SECON Team B Mid-Term Presentation

2. Team B Dr. Bryan Jones, Advisor Jeff Brantley Jonathan Bryant Brooke Grantham Kevin Vu SortingXX StorageXX DiscriminationXX NavigationXX

3. Outline Competition Overview Project Division Technical Constraints Test Plan Practical Constraints

4. Competition Overview Autonomous recycling robot for 2009 IEEE SECON hardware competition Must locate, acquire, sort, and store recyclables on the robot. 10 Recyclables include: –5 aluminum cans –3 plastic bottles –2 glass bottles Maximum Starting Size: 12”x12”x18” [1]

5. Competition Playing Field Artificial turf 8’x8’ Electric dog fence boundary 10’x10’ Hard boundary Recyclables will be placed on their sides The recyclables arrangement will be the same for each heat [1]

6. Competition Recyclables [1]

7. Outline Competition Overview Project Division Technical Constraints Test Plan Practical Constraints

8. Team Tasks Driving Navigation Boundary Detection Acquisition Target Detection Discrimination Sorting Storage Team A Team B

9. Outline Competition Overview Project Division Technical Constraints Test Plan Practical Constraints

10. Technical Constraints NameDescription Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field. Target Discrimination The robot must recognize the containers as being either glass, aluminum, or plastic. Sorting The robot must sort the recyclables into three different containers. Navigation The robot must travel within the 10’ X 10' square boundary without contacting or extending over the boundary.

11. Storage Box Prototype Concerns –Material –Sorting time

12. Storage Capacity Redesigned storage compartments –Removable –Decreased sorting time –Stronger material

13. Storage Capacity Prototype DesignFinal Design

14. Storage Capacity Prototype Expansion Design Final Expansion Design

15. Storage Capacity

16. Technical Constraints NameDescription Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field. Target Discrimination The robot must recognize the containers as being either glass, aluminum, or plastic. Sorting The robot must sort the recyclables into three different containers. Navigation The robot must travel within the 10’ X 10' square boundary without contacting or extending over the boundary.

17. Target Discrimination Modified the guards –Located on each end of the lift platform –Ensure recyclables stay in a position to be read by the FSR –Prevent IR sensor from being damaged by incoming recyclables

18. Technical Constraints NameDescription Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field. Target Discrimination The robot must recognize the containers as being either glass, aluminum, or plastic. Sorting The robot must sort the recyclables into three different containers. Navigation The robot must travel within the 10’ X 10' square boundary without contacting or extending over the boundary.

19. Sorting Concerns Binding on the screw shaft occurred while lifting glass bottles Previously used an L shaped bracket –Lacked support between the bottom of the lift platform and the guide rail slider

20. Sorting Re-braced the lift platform –Used square bracket to ensure full support –Reduces the forward pull on the stepper motor screw shaft –Allows the motor to lift recyclables faster

21. Sorting

22. Sorting Concerns Occasional lift binding due to uneven weight distribution –Causes step count to be incorrect –Step count completes before reaching container

23. Sorting Added a Limit Switch –Allows the lift to reset at ground position –Compensates for error after rising and descending Ability for the lift to nudge up and check IR –This is for the fail case when the container does not leave the lift

24. Sorting

26. Technical Constraints NameDescription Storage Capacity The robot’s storage compartments must accommodate all 10 containers that will reside on the playing field. Target Discrimination The robot must recognize the containers as being either glass, aluminum, or plastic. Sorting The robot must sort the recyclables into three different containers. Navigation The robot must travel within the 10’ X 10' square boundary without contacting or extending over the boundary.

27. Navigation Stage 1 Clear inner boundary Use dog fence sensors to straddle line Creates a “safe zone” along the outer boundary [1]

28. Navigation Stage 2 Wander the field Turn to any container within 1 ft. At fence, turn at predetermined angle. Does not require precise control – drift is acceptable [1]

29. Navigation

30. Outline Competition Overview Project Division Technical Constraints Test Plan Practical Constraints

31. Test Plan Unit testing –Each individual module Integration testing –Combinations of modules System testing –High-level functionality –Fulfillment of technical constraints

32. Modular Architecture

33. System Test Plan Discrimination/Sorting –Place each container type on lift –Verification: Correct delivery to compartments Storage –Run discrimination/sorting test with all 10 containers –Try a variety of permutations of glass, aluminum, and plastic –Verification: All 10 containers fit in their compartments without obstructing the lift

34. System Test Plan Navigation (Line-Following) –Place robot over dog fence –Verification: Straddles fence, stops over any container Navigation (Roaming) –Place robot anywhere on the field –Verification: Robot does not impact or cross the outer boundary –Verification: Robot pursues any container within 1 ft. and stops over it

35. Outline Competition Overview Project Division Technical Constraints Test Plan Practical Constraints

36. NameDescription Manufacturability The robot must fit inside a 12" X 12" X 18" box before beginning of each round. Sustainability The robot must operate at least 4 minutes on a single battery charge.

37. Manufacturability Previous: 19”W x 16”H x 15”D Current: Within 18”W x 12”H x 12”D –Exceptions Uncut screws and shafts Stepper motor shaft

38. Manufacturability

39. Practical Constraints NameDescription Manufacturability The robot must fit inside a 12" X 12" X 18" box before beginning of each round. Sustainability The robot must operate at least 4 minutes on a single battery charge.

40. Sustainability Battery choice: –Lithium-Ion Powerizer (14.8 V, 4800 mAH) High energy density Protection circuitry housed on battery package –About 15 minutes (older battery) –Have backup battery

41. Packaging

44. PCB Version 1 Issues –3.3V regulator footprint –Buck converter footprint –Number of analog inputs

45. Packaging

46. References [1] Institute of Electrical and Electronics Engineers. Southeastcon 2009 Hardware Competition: The Recycling Robot, 2008 August 28, http://hardware.gtieee.org/southeastcon2 009/SoutheastCon-2009-Hardware- Rules.pdf. Accessed September 16, 2008.

47. Questions?