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 Practical Constraints Project Timeline

4. Problem Statement 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] [2]

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 Practical Constraints Project Timeline

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 Practical Constraints Project Timeline

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.

11. Storage Capacity Constraints –Plastic bags cannot drag on the field –Store 10 containers Approach considerations –Number of compartments –Expansion

12. Storage Tradeoffs Three compartments –Necessary for maximum score –More complex Two compartments –Less sorting complexity –Reduces maximum possible score Expanding containers –More room for internal subsystems –More likely to extend outside boundary Fixed containers –Less complex –Limits room for other components

13. Storage Capacity Final Approach –Three storage compartments –Store internally

14. Storage Access Small rear slot for glass bottles First slot on top for aluminum cans Can slot closes for plastic to roll past

15. Target Discrimination Initial Approaches –Camera Complex, dependent upon lighting conditions –Infrared (IR) sensor Sensitive to lighting conditions –Force Sensing Resistor (FSR) Limited sensitivity

16. Target Discrimination Container TypeVoltage* Glass3.17 Plastic2.62 Aluminum0.00 *Using 3.3V scale

17. Target Discrimination Final Approach: –Combination FSR and IR sensor –FSR to detect and differentiate between glass and plastic –Cans detected by IR sensor

18. Additional Constraints NameDescription 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. Mechanical Lift Placement –Middle –Front –Back Lift Mechanism –Pulley System –Stepper Motor

20. Lift in the middle Complexity No storage space –Requires expansion

21. Lift in front Storage room Arms in front –Push items –Past outer boundary TOP VIEW

22. Lift in back Robot drives over item Arms moved inside –Turn at outer limits Storage space lost at the bottom Final Approach TOP VIEW

23. Pulley System Level with ground Complexity Room for cables and pulleys SIDE VIEW

24. Stepper Motor Simplicity Offset with size of motor Final Approach SIDE VIEW

25. Navigation Sweep all possible target locations Clear boundary Sweep interior Guarantees complete field coverage Requires more precise control than is feasible [1]

26. Navigation “Wander” the field Does not require precise control – drift is acceptable Choose a non- random, optimal algorithm Complete field coverage not guaranteed [1]

27. Navigation Final Approach –Sweep perimeter first, following dog fence –Wander the interior until time is up or all recyclables retrieved –Two wandering patterns Wander and search, leaving path to retrieve items Wander and “stumble upon” items (contingency plan in case Team A’s IR sensors fail)

28. Outline Competition Overview Project Division Technical Constraints Practical Constraints Project Timeline

29. 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.

30. Manufacturability Allowed to use 18” for L, W, or H 18” Height –Small footprint (12” x 12”) is more maneuverable –Tracks take up 3-3.5” in width –Plastic bottles are 8.7” long –Need more room for bottles to between tracks

31. Manufacturability 18” Width –Plenty of room for bottles to pass between tracks –Containers do not naturally fall in the most optimal arrangement –Must reorient some containers to fill in wasted space due to extra width

32. Sustainability Robot must be able to run for a full round (4 min.) on a single battery charge Battery options: –Lithium-Ion Polymer Small, high energy density Performed well for SECON 2008 team Requires external protection circuitry –Lithium-Ion Also a high-density battery Protection circuitry housed in battery

33. Outline Competition Overview Project Division Technical Constraints Practical Constraints Project Timeline

34. Timeline Sept.OctoberNovember Sorting Storage Discrimination Navigation Integration

35. Summary ProblemApproach Target DiscriminationFSR and IR sensor StorageFixed-size box with three compartments SortingLift-and-dump NavigationSweep perimeter first Wander throughout interior

36. References [1] Institute of Electrical and Electronics Engineers. Southeastcon 2009 Hardware Competition: The Recycling Robot, 2008 August 28, http://hardware.gtieee.org/southeastcon2009/Southeast Con-2009-Hardware-Rules.pdf. Accessed September 16, 2008. [2] J. Brantley, J. Bryant, K. Grantham, K. Vu. Product Specification: The Recycling Robot, http://www.ece.msstate.edu/courses/design/2008/seco n/ProductSpecB-Final.pdf. Accessed September 22, 2008

37. Questions?