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ECE 001: Team Awesome Patel, Hetal Odobasic, Stephen Rajeevan, Sushmitha Noel, Kelli Patel, Hetal...
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Transcript of ECE 001: Team Awesome Patel, Hetal Odobasic, Stephen Rajeevan, Sushmitha Noel, Kelli Patel, Hetal...
ECE 001:Team Awesome
ECE 001:Team Awesome
Patel, Hetal
Odobasic, Stephen
Rajeevan, Sushmitha
Noel, Kelli
Patel, Hetal
Odobasic, Stephen
Rajeevan, Sushmitha
Noel, Kelli
Mr. AwesomeMr. Awesome
ObjectivesObjectives
• Build robot and write program to operate robot
• Move robot from start to finish on dark line
• Have robot complete a U-turn
• Make robot return to the start point by following the black line
• Build robot and write program to operate robot
• Move robot from start to finish on dark line
• Have robot complete a U-turn
• Make robot return to the start point by following the black line
ResourcesResources
Parts: Two motors One handiboard Two analog sensors Lots and lots of Lego blocks Four tires-2 with rubber treads and 2 without
Parts: Two motors One handiboard Two analog sensors Lots and lots of Lego blocks Four tires-2 with rubber treads and 2 without
Source CodeSource Code
Overall while loop State dependent cycle
Complete one state and then move on to the next
Used for U-turn
Analog sensors Threshold of 200
Overall while loop State dependent cycle
Complete one state and then move on to the next
Used for U-turn
Analog sensors Threshold of 200
ProcedureProcedure
Wheels used instead of treads for better navigation Rubber wheels in back for better traction allowing
better use of power Front wheels without rubber to allow for smoother
turning Speed was set below full power to allow better
control
Wheels used instead of treads for better navigation Rubber wheels in back for better traction allowing
better use of power Front wheels without rubber to allow for smoother
turning Speed was set below full power to allow better
control
Order of DevelopmentOrder of Development
1. Source code and construction of robot prototype done simultaneously
2. Trial and error resulted in modifications to both code and robot
3. Final code written and final robot constructed
1. Source code and construction of robot prototype done simultaneously
2. Trial and error resulted in modifications to both code and robot
3. Final code written and final robot constructed
ChallengesChallenges Robot malfunctions
First prototype was built with wheels issue with gear ratio
Second prototype was built with treads Friction and weight of robot led to dilemmas
Final design Went back to wheels with a lower gear ratio that
worked less efficiently but provided better overall results
Front wheels without rubber treads to minimize friction and add control
Robot built with more fortification to sustain it under stress
Robot malfunctions First prototype was built with wheels
issue with gear ratio Second prototype was built with treads
Friction and weight of robot led to dilemmas Final design
Went back to wheels with a lower gear ratio that worked less efficiently but provided better overall results
Front wheels without rubber treads to minimize friction and add control
Robot built with more fortification to sustain it under stress
First Prototype
Second Prototype
Final Robot: Mr. Awesome
Programming ErrorsProgramming Errors Turns
Modified through trial and error until we concluded that one motor must have its speed reduced
U-turn Initial program resulted in the robot turning in circles Second attempt relied on imprecise time estimates We concluded that the program should be written into
two elements
Turns Modified through trial and error until we concluded
that one motor must have its speed reduced
U-turn Initial program resulted in the robot turning in circles Second attempt relied on imprecise time estimates We concluded that the program should be written into
two elements
Biomedical ExperimentBiomedical Experiment
A centrifuge is a device that separates liquids based on their density
Centrifuges can separate liquids faster by the “centrifugal” force than gravitational force
A centrifuge is a device that separates liquids based on their density
Centrifuges can separate liquids faster by the “centrifugal” force than gravitational force
Trial # Sensor reading (before
separation)
Sensor Reading
(after separation)
Oil
Sensor Reading
(after separation)
Water
Time to Separate (seconds)
Motor Speed
1 154 122 228 60 100
2 150 120 170 60 80
3 112 125 212 60 60
4 115 137 204 60 40
5 115 148 206 60 20
Change in Seperation Due to Motor Speed
0
50
100
150
200
250
0 20 40 60 80 100 120
Speed
An
alo
g S
en
so
r R
ea
din
g
Water
Oil
Linear (Oil)
Linear (Water)