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LUNAR SECON Team 2 Senior Design 2 Mid-Semester Presentation February 28th, 2008
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SECON Team 2 Andrew Tigert Khanh Bui Ryan Sparks Chris Dailey Dr. Bryan Jones LocomotionXX PowerXX Block Pickup and Storage XXX GyroscopeX IntegrationXX Faculty AdvisorX
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Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
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Competition Basics Block point values Maximum of 4 blocks can be scored 6-minute matches Three preliminary rounds Single robot Cumulative score determines seeding in playoffs Head-to-Head Playoffs Top 8 teams from preliminary rounds Two robots on the same playing field
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Block Placement
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Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
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Modularity Components are easily interchangeable Pick-up mechanism Batteries Servos Removable pick-up mechanism
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Reliability Must not require any major repairs in between rounds Material and construction choices Base Gripper assembly Convert potential major problems into easily repairable minor problems
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Technical Constraints NameDescription DimensionsThe robot must be completely self contained and no larger than 10” x 10” x 11”. Block Pick-upThe robot must be able to pick up blocks at varying angles on three different terrains without sliding the blocks more than 4 inches Block StorageThe robot must be able to store at least 1 block onboard. SpeedThe top speed of the robot must be at least 6 inches per second. PowerThe battery must be able to supply power for a minimum of 7 minutes
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Presentation Outline Competition Basics Design Constraints Design Changes Summary and Timeline
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Design I Progress Maneuvers on 2 of the 3 terrains Performs 90 degree turns Collects and stores 2 blocks Returns to home base Outside size constraint
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LCD Used for debugging Connected to Team 2’s PIC Team 1 sends information for display
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PIC migration Pin changes Servos Peripheral interrupts Serial communication PIC kit is now used Migration headaches New configuration file
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PCB Initial PCB design & population PICs functional tests Required changes for next revision
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Block Storage Storage Constraint: 1 Storage Capability: 4 Three blocks are held in the tray Gripper holds the last block Recessed area holds side blocks in place
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Rotation New Servo Allows for Precise Turning Gears Easier to take apart, better for testing Do not break or skip teeth Very reliable
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Rotation Ball Bearing Joint allows for smooth rotation
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Gripper New Lifting Servo Mounts Smooth Rod for Lifting Teflon Allows for Smoother Travel Along the Horizontal Rod
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Encoders Vex encoders vs. U.S. Digital Size Shaft type Used for driving straight Secondary block detection
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Gyroscope Measures turn angles Collision correction
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Test Plan Completed PICs Pick-up Mechanism Track Servos Storage Tray Ongoing PCB Encoders Gyroscope
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Design II Summary Encoders provide feedback on motors Gyro used for collision detection/correction Storage system holds 4 blocks Robot meets the size constraints Tracks replace wheels and casters PCB design
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Timeline JanFebMarApr Track Construction Body Redesign PCB Design Translate to PIC18F6527 Change Approach Populate PCB Integration Testing Competition
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Questions?
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Resources [1] IEEE. (2007, Sept. 4). “2008 SoutheastCon Hardware Competition Rules,” IEEE Region 3 Huntsville Section Web Site. [Online]. Available: http://ewh.ieee.org/reg/3/secon/08/documents/H ardware_Competition_Rules_v16.pdf
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Last Crayon Machine Makes all crayons needed… ever!!! Plus the Slow-Motion Popcorn Popper
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