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D.A.V.E. Robot Construction Project

D.A.V.E. Robot Construction Project. Lara Cowan Victor Johnson Hector Malagon Michael Zaw. Following Lines. Simple device structure Basic algorithm Many ways to implement design. Research & Development. The Robot. Overview. Sensory systems

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D.A.V.E. Robot Construction Project

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  1. D.A.V.E.Robot Construction Project Lara Cowan Victor Johnson Hector Malagon Michael Zaw

  2. Following Lines • Simple device structure • Basic algorithm • Many ways to implement design

  3. Research & Development

  4. The Robot

  5. Overview • Sensory systems • Data input systems; Collect information of outside world • Data processing/motor control • Systems to interpret input signals and decide what to do • Drive systems • Output systems for machine; Implement signals from motor controller

  6. Sensory Systems • Photoresistors • Phototransistors • Photodiodes

  7. Photoresistors • Resistance is inversely proportional to light levels • Cheapest of the three types of photoconductive devices • Have the slowest reaction rate of all photodetectors

  8. Phototransistors • Current is sourced in the presence of light • Moderately priced • Respond about 1000 times faster than photoresistors

  9. Photodiodes • Current is sourced in the presence of light • Most expensive class of photoconductors • Respond about 1000 times faster than photoresistors

  10. Data Processing &Motor Control • Algorithm • Programmable logic device • Microcontroller

  11. Line Following Algorithm • Robot direction is determined by what the robot “sees” • If line is centered in front of robot, go forward • If line is left of center, turn left • If line is right of center, turn right • If no line is detected, circle until line is found

  12. Line Following Algorithm • Straight • Left • Right • Circle

  13. Programmable Logic Device (PLD) • Relatively inexpensive • Can easily implement finite state automata • Has limited program capacity • Has limited program capabilities

  14. Microcontroller • Costlier than PLD • Relatively easy to program • Memory can be expanded, if needed

  15. Drive Systems • DC motor • Stepper motor • Servo motor

  16. DC (Toy) Motors • Abundant and cheap • Easy to implement • Provide no feedback regarding motor speed or position

  17. Stepper Motors • Expensive • Require special circuitry to implement • Provide no feedback regarding motor speed or position

  18. Servo Motors • Very expensive • Provide feedback data • Require sophisticated algorithms to implement

  19. Research & Development

  20. Phototransistors • Cost less than photodiodes • Have better reaction time than Photoresistors

  21. PLD • Cheaper than microcontroller • More appropriate, given program size

  22. DC Motor • Cheap • Will be run continuously • Does not need advanced features of servo

  23. THEEND

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