ECE Oral Presentation

Group 16

• Team Greatness• Hugo Caceres, Chris Robertson,

Reza Rad, Matt Wilkins

Rob the Robot

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Rob the T.A.

Can you see a difference?

Neither can we…

Objective of the project:

• To create a robot that could fulfill the tasks assigned to it. • The robot would be coded through interactive C and would be programmed to follow a specific path and return. • By completing these tasks, we will obtain a better understanding of programming.

Resources needed to create the robot

• Handyboard• - Two Lego motors• - Two sensors• - Lego Pieces• - Cables to connect to PC for program upload• - PC• - Course to practice on

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Program Listings• void main(){    int a=1;    int b=2;    int spe=3;    int d=4;    int sensor 1;    int

sensor 2;    while(!start_button());    while(a==1)      {        sensor 1=analog(5);        sensor 2=analog(3);        if((sensor 1<140)&&(sensor 2<140));        {            motor(1,100);            motor(3,100);        }        if((sensor 1>140)&&(sensor 2<140));        {            motor(1,10);            motor(1,80);        }        if((sensor 1<140)&&(sensor 2>140));        {            motor(1,80);            motor(3,10);        }        if((sensor 1>140)&&(sensor 2>140));        {            motor(1,-50);            motor(3,50);            a=0          }    }      while(b==2)      {        sensor 1=analog(5);        sensor 2=analog(3);        if((sensor 1>140)&&(sensor 2>140));        {            motor(1,100);            motor(3,100);            sleep(0.5)              b=0          }    }    while(a==1)      {        sensor 1=analog(5);        sensor 2=analog(3);        if((sensor 1<140)&&(sensor 2<140));        {            motor(1,100);            motor(3,100);        }        if((sensor 1>140)&&(sensor 2<140));        {            motor(1,10);            motor(1,80);        }        if((sensor 1<140)&&(sensor 2>140));        {            motor(1,80);            motor(3,10);        }        if((sensor 1>140)&&(sensor 2>140));        {            ao()          }    }  }

Procedures to implement the robot

• Design was built based on some certain conclusions we made for optimum performance.

• We had a balanced set of wheels with full power and slow speed. – The speed stayed slow even as it was on full power.

• This was a result of going from a small gear to a big gear at the wheels.

• Broke up the team into two programmers and two robot builders. – Hugo and Matt robot builders, Reza and Chris programmers.

• Once the program was completed, we tested it on the completed robot.

Several Trials

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Try again…

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Challenges faced while implementing the robot

• During our development of Rob, we ran into some difficulties. • When running Rob on the pathway in our classroom, Rob

would run fine. But, when Rob was transferred into another class, he would be unable to run correctly on the course.

• The redundancy of ending the line with a semi-colon resulted in us forgetting it from time to time, which caused error in the code. This slowed us down a little.

• Although Lego pieces are usually praised for overall strength, the pieces we used struggled to hold the weight of the handyboard and resulted in us redesigning our robot Rob.

• During U turn, both sensors detected line, so robot stopped.

Biomedical Experiment

Background Information: (Centrifuge)

• A type of machine used to separate materials

based on their densities.

• Uses centrifugal forces that could be thousands

of times greater than that of gravity.

• This can also be used to separate blood

densities.

Biomedical Experiment (continued)

• Separation of Oil and Water

• Used Lego’s, a motor, gears, an IR Reflectance sensor, and a handyboard.

• Made sure to counterbalance the centrifuge.

• Used while loops to increase the speed, keep the speed constant, and then slow the speed down.

Sensor Reading (after separation)

Trial #

Sensor Reading (before separation) Water Oil

Ramp UP Time (s)

Time to Separate (s)

1 195 37 184 0 21.6 2 178 18 202 0 27.4 3 179 19 120 0 28.3 4 183 76 181 0 36 5 165 24 155 0 32.1

RESULTS

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Conclusion:

• Although we accomplished the task, we had some failures along with our successes.

• The original robot we built was poorly designed and was fully redesigned.