Team 23: 2013 IEEE ROBOT COMPETITION

Introduction

• Team 23 – IEEE Region 5 Robot Competition• F12-23-EEE1• Client: Ning Weng• Team Members:• Claudio Copello (ECE)• Steven Lyle (EE)• Klint Youngmeyer (CpE)• Michael Hepburn (EE)• Dhruti Joshi (CpE)

• Faculty Adviser: Nazeih Botros

Outline (KY)

• Introduction – Klint Youngmeyer• Executive Summary – Klint Youngmeyer• Executive Summary Cont. – Claudio Copello• Project Description – Dhruti Joshi• Functional Description• Drive /Power– Dhruti Joshi• Microcontroller – Steven Lyle• Sensors – Steven Lyle• Collection – Michael Hepburn

• Summary – Michael Hepburn• Acknowledgements – Michael Hepburn

Executive Summary(KY)

• Forest Restoration, Human Intervention• Robot must navigate simulated forest with obstacles• Collect 6 soil samples in specified locations

• Autonomous Robot• Rugged design• Vertical collection

• Keeps Humans Safer• Samples needed quickly

Executive Summary (CC)

• What were the expectations?

• What was the outcome? • Were the expectations

met in terms of performance, constraints (time, money, size, etc.)?

• In order to accomplish the project, the expectations were being able to build an autonomous robot to navigate through the course and collect soil samples.

• The robot was able to navigate through the course and have a working collection system as well

• In terms of constraints from time and money, the expectations were met.

Project Description

• Five subsystems• Power• Drive• Microcontrollers• Sensors• Collection System

• SD card reads coordinates• Start button begins course of robot• Robot determines path from code• Robot detects obstacles/dowel rods and avoids/runs over them• Robot detects disc, collects• Robot ends at start of course

Power (DJ)

• Main Purpose• Provide power to microcontroller, servo, motors and sensors

• Options• NiCd, NiMH

• Justification• Very reliable in respect to voltage capacities• less energy waste compare to other conventional rechargeable batteries

• Performance• The Eneloop batteries were recharged only two or three time during the

design of the robot

Drive System (DJ)

• Main Purpose• Navigate through the course

• Options• Soft Plastic Tracks, Wheels, Hard plastic w/ Rubber Tracks

• Justification• Better traction and easier to navigate

• Performance• Successfully drive over the dowel rods • Navigate successfully through the course

Microcontroller

• Main Purpose• Control Robot

• Options• 2 Arduino Uno• Arduino Mega 2560• External Motor Controller

• Justification• Programming the Mega was

easier than programming 2 Uno• More available Interrupts• Motor Controller Stacks on top

of arduino

• Performance• Successful navigation & sensor

readings

Sensors

• Main Purpose• To get navigation feedback

• Options• Infrared Object Detection• Reflectivity Wheel Encoding• Magnetometer

• Justification• Object Detectors precise locating of the disc• Wheel encoding enabled feedback controlled drive maneuvers• Magnetometer allowed us to verify the robot’s orientation (error correction)

• Performance• Successful navigation & sensor readings• Magnetometer did not work in the power lab

Wheel Encoders

Disc Detection Array

Collection (MH)

• Main Purpose• Vertical collection of disk with Probe

• Options• Mechanical VS Magnetic• Storage of disk

• Justification• Mechanical• Storage of disk in probe

• Performance• Linear actuator• Trails

Summary (MH)

• Project Overview• What does the robot do?• Benefits compared to others

• Project Outcome• Implementation Cost: $875• Implementation Time: ~80 hours

Acknowledgements (MH)

• Dr. N. M. Botros (technical advisement)• Dr. F. Harackiewicz (design options and ideas)• Dr. A. Weston (design options and ideas)• Mrs. K. Purcell (design as well as technical writing

mentoring)• Dr. V Singh-Gupta (technical writing mentoring)• Eric Grosshenrich (For donating shop time, equipment,

and advice)

Questions?

• Feel free to ask any questions about the project.