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Autonomous Mobile Plotter

Autonomous Mobile Plotter. Team Members: Kim Schuttenberg & Alicia Tyrell Project Design Review #2. Project Objectives. Accurately move and plot specific shapes on a flat surface, specified by a path. Position Error & Orientation Correction

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Autonomous Mobile Plotter

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  1. Autonomous Mobile Plotter Team Members: Kim Schuttenberg & Alicia Tyrell Project Design Review #2

  2. Project Objectives • Accurately move and plot specific shapes on a flat surface, specified by a path. • Position Error & Orientation Correction • Where if displaced the plotter will move to its correct position and orientation up to 1 meter.

  3. Software Specifications • Graphical User Interface • Allows the user to enter a path for the vehicle to follow. • Forward xx, Right yy, Left yy. • Allows the user to draw shapes. • Squares, Triangles, Polygons, Lines, Rectangle

  4. Software Specification Cont’d • The user can place as many shapes as desired onto the drawing canvas with the following exceptions: • 1. The size of the shapes to be drawn cannot exceed the 1m by 1m operational area. • 2. All shapes must intersect.[1] • [1] Each shape has fixed number of points in which it may intersect with another shape. • 3. Recipe instructions generated cannot exceed 4K

  5. Software Description • Path Determined • Nearest Neighbor Method Analysis

  6. Recipe Commands OpCode Description Straight 0xxxxxxx Moves the plotter up to 127 steps forward Right 110xxxxx Turns the plotter up to 31 steps or 62 right Left 111xxxxx Turns the plotter up to 31 steps or 62 left Repeat 101xxxxx Repeat the next instruction 8x +1 (up to 249 times) Correct[1] 10000000 The plotter will check its position for errors. Relative to the beacons. Stop 10000100 The plotter will stop. NOP 00000000 The plotter will do nothing. Software Description Cont’d • Recipe Generation [1] See section on Auto-Correct Instruction

  7. Plain Text Assembly Error Correct (135,45,45) DC.B Correct DC.W 150 DC.B 100 DC.B 100 Forward 20cm DC.B FORWARD+53 RIGHT 90 DC.B RIGHT+31 DC.B RIGHT+14 Forward 20cm DC.B FORWARD+53 RIGHT 90 DC.B RIGHT+31 DC.B RIGHT+14 Forward 20cm DC.B FORWARD+53 RIGHT 90 DC.B RIGHT+31 DC.B RIGHT+14 Forward 20cm DC.B FORWARD+53 End of recipe DC.B STOP Software Description Cont’d

  8. Hardware Specification • Operational Area • 1m x 1m • Flat Surface • Movement Resolution • 3.67 mm line segment per step • 1.92° per step • Sensors • Range: 2 m • 38 kHz @ 950 nm ± 50 nm • Emitters • Modulated to match sensors • Error Correction Accuracy • Within Operational Area • 5 cm • 5 degree

  9. Hardware Description • Device Size • 12” x 6” x 9” ( Not including protruding wheels ) • Microprocessor • 68HC12A4 • 8 MHz • EEPROM • Internal: 4K • External: 32K • Static RAM • Internal: 1K • External: 512K

  10. Hardware Description Cont’d • Stepper Motors • Drive Motors • Unipolar Airpax 7.5°/step • Sensor Motor • BiPolar:Astrosyn 0.9°/step

  11. Kim Schuttenberg Software Low-Level Circuit Assembly Driver Circuit Board Signal Processing Board Emitter Circuit Board Vehicle Construction Alicia Tyrell Software High-Level Circuit Assembly Modulation Circuit Board Sensor Circuit Board Vehicle Construction Work Division

  12. Work Completed Hardware Device Fully Assembled

  13. IR Emitter Design Equation:

  14. Signal Processing

  15. Demodulation Circuit

  16. Software Low - Level Math Motion Correction Algorithm Control 100% Written 100% Written 100% Written 0% Tested 90% Tested 90% Tested Size: 253 Size: 499 Size: 268 Recipe Measurement Execution 100% Written 100% Written 40% Tested 95% Tested Size: 313 Size: 107 Work Completed/ In Progress

  17. Software High - Level Main Interface Written: 100% Tested: 96% 496 Lines of Code Shape Generation Written: 100 % Tested: 95% 450 Lines of Code Path Generation Written: 100 % Tested: 85% 305 Lines of Code Recipe Generation Written: 86 % Tested: 40 % 200 Lines of Code Java Serial Communication Written: 89 % Tested: 80 % 100 Lines of Code Work Completed/ In Progress

  18. Power Consumption • Battery Source • 4.8 Volts @ 1800 mAh • Logic: 3 hours • Total Measured: 400 mA • Power 1.92 Watts • 6.0 Volts @ 3200 mAh • Motor ½ hour – 1 hour • Total Calculated: 3 A • Power 18 Watts

  19. Test Plan • Error Correction: • Choose Several points/orientations to test from. • Have correct to known point, measure error at end. • Recipe Execution: • More of a calibration than a test • Straight: Drive a distance, turn, drive a larger distance. Measure distances to find the calibration constant for the strait command • Turning:Drive Straight, turn a large number of times, then drive straight again. The resulting angle can be used to find the rotation calibration constant. • Repeat: Use the straight and turn commands to test.

  20. Potential Problems • Movement • Stepper Motor

  21. Questions ?

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