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Outline / Overview :

Final Presentation EEL 5666C INTELLIGENT MACHINES DESIGN LABORATORY APRIL 12 th , 2005 Cliff Pannella Robot: “DICE”. Outline / Overview :. OBJECTIVES THE ROBOT: CONTROLLER PLATFORM MOVEMENT SENSORS METHODS WHAT WENT WRONG. Objectives:. Roll the dice Locate the dice

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Outline / Overview :

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  1. Final PresentationEEL 5666CINTELLIGENT MACHINES DESIGN LABORATORYAPRIL 12th, 2005Cliff PannellaRobot: “DICE”

  2. Outline / Overview : • OBJECTIVES • THE ROBOT: • CONTROLLER • PLATFORM • MOVEMENT • SENSORS • METHODS • WHAT WENT WRONG

  3. Objectives: • Roll the dice • Locate the dice • Position the dice properly • Read values • Calculate win or loss • Win: 2,3,4,5,10,11,12 • Loss: 6,7,8,9 • Repeat

  4. Controller: • MAVRIC-II Board • ATMEGA 128 Microcontroller • Power board: (Eagle v4.14) Regulated to 5V

  5. Platform:

  6. Movement:

  7. Sensor Suite Includes: Bump Sensors • Obstacle Detection Infrared Sensors • Obstacle Avoidance • Object Searching/Confirmation Photoreflectors • Value Detection

  8. Bump Sensors Placement:

  9. Infrared Sensors: Placement:

  10. SHARP GP2D120INFRARED OBJECT DETECTOR (Shorter Detection Range: 4 cm-30 cm)Output Voltage (V) Object Distance (cm)

  11. P5587 HAMAMATSU PHOTO IC DIGITAL OUTPUT PHOTOREFLECTOR Circuit:

  12. Dice-Reading AlgorithmTemplate:Start with most straight-forward method:5 and not (1,2,3,4,6,7,8,9)This is very inefficient, and not cost-effective at all

  13. Method: *5 Photoreflectors for each die*Minimum amount necessary to ensure proper read*Explained in following slide

  14. Dice-Reading Algorithm 5 AND NOT 1,3 (1,3) AND NOT (4,5,8) 1 AND NOT (3,5) OR 3 AND NOT (1,5) (1,3,5) (1,5) AND NOT 3 OR (3,5) AND NOT 1 (1,4) OR (1,8)

  15. Probabilities • 36 possible rolls 2: 1 chance8: 5 chances 3: 2 chances9: 4 chances 4: 3 chances10: 3 chances 5: 4 chances11: 2 chances 6: 5 chances12: 1 chances 7: 6 chances Wins: 1+2+3+4+3+2+1 = 16 16/36=44.4% Losses: 5+6+5+4 = 20 chance of winning

  16. Special Sensor (x2) Design done using Eagle Software (Version 4.14)

  17. Assembled SpecialSensor Board:

  18. P5587 HAMAMATSU PHOTO IC DIGITAL OUTPUT PHOTOREFLECTORSOutput Voltage (V) Distance (mm)

  19. Methods/Software: • Incremental Development • Circle playing area searching for die; • Use Obstacle Avoidance Functions • Verify proper storage of die; find the remaining one and do the same • Calculate values using special sensors

  20. WHAT WENT WRONG? • Rolling the dice As of now:

  21. WHAT WENT WRONG (cont’d) • Estimation/Time Allocation • Murphy’s Law • No Laptop

  22. THE END Place your bets!

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