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JEEVES the Robot Butler

A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment. JEEVES the Robot Butler. Team JEEVES. Daniel Steffy , Alissa Halvorson, Bogdan Pisica , Christopher Pearson, Hameed Ebadi. Project Objectives. Create a Robot System that: Carries Beverage From Vendor to User

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JEEVES the Robot Butler

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  1. A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, BogdanPisica, Christopher Pearson, HameedEbadi

  2. Project Objectives • Create a Robot System that: • Carries Beverage From Vendor to User • Detects Direction of Beacon Signal • Dynamic Path Finding Based on Ultra-Sonic Sensors • Detects When To Stop • Able to Return to Base Station BogdanPisica

  3. Project Purpose • Possibilities for Nursing Homes or Hospitals. • Base Station with multiple robots delivering meds, food, etc. to patients • People with disabilities • Convenience BogdanPisica

  4. Achievable Goals • Implementation of the Robotic Chassis • Detection of Feedback on Robotic Motors • Robot Is Able To Move From Point A to Point B • Sonar Object Detection • Beacon Initiates Robotic Movement • Capable of Carrying a Beverage BogdanPisica

  5. Medium Level Goals • Robot Able to Detect Direction of Beacon • Dynamic Object Avoidance • Calibration of Wheels Based on Feedback • Returns to Point A BogdanPisica

  6. High Level Goals • Beverage Dispenser That Contains Multiple Options • Beacon Allows for Multiple Selections • Multiple Users BogdanPisica

  7. Details of Design

  8. Details of Design • Three Separate Pieces • Robot, Base Station, Remote • Majority of the Processing Power will be in the Robot • Remote and Base Station both Transmit Daniel Steffy

  9. Robot Design • State Machine in Microcontroller • Different Batteries for Motors, Sensors and Microcontroller • Sensors: • Beverage Presence Monitor (BPM) • RFID Reader • Directional Antennae • Ultra-Sonic Sensors Daniel Steffy

  10. State Machine Daniel Steffy

  11. Remote Design • User Interface • Unique RF ID tag • Communications with Base Station (XBee) • RF Transmitter Beacon • Logic Interfaces with Modules Daniel Steffy

  12. Base Station Design Daniel Steffy

  13. Motors • ReluctanceMotor • High Power Density • Feed back system needed • Magnetic Reluctance [resistance] • Stepper Motor • Precise • No calibration needed HameedEbadi

  14. Microprocessor • MSP 430 F2616X • Low Supply Voltage Range 1.8 V to 3.6 V • 16-Bit RISC Architecture • 64 I/O pins • 12 A/D and 12 D/A Convertor Pins HameedEbadi

  15. Antenna • Wave Properties to worry about • Transmission (use high frequencies to avoid) • Refraction • Reflection • Absorption • Diffraction HameedEbadi

  16. Xbee Wireless Comm • Signal Strength Detection • Possible Design Ideas • Multiple Xbee • Rotation Chris Pearson

  17. Ultrasonic Sensor • PING (Ultrasonic Sensor) • Precise, non-contact distance measurement from 2 cm to 3 m. • 20 mA, 5 VDC • Narrow Acceptance Angle • Multiple Sensors Chris Pearson

  18. Power • Motorcycle battery for robot main power • 9v for remote beacon • Wall wart for base station Chris Pearson

  19. Division of Labor Alissa Halvorson

  20. Schedule Alissa Halvorson

  21. Budget Alissa Halvorson

  22. Funding • UROP • Team Members • Donations • Scavenging Alissa Halvorson

  23. Risks and Contingency Plans • Ultra-sonic sensors don't work or too much interference • Use bump sensors • Failure to detect beacon signal direction • Use IR "line of sight" sensors • Run out of time or money • Reduce features/capability • Mechanical issues • Enlist mechanical major's help Alissa Halvorson

  24. Questions?

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