Team 23: 2013 IEEE ROBOT COMPETITION
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Transcript of Team 23: 2013 IEEE ROBOT COMPETITION
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.