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Power Bot

Power Bot. Group 2 Luke Cremerius Jerald Slatko Marcel Michael Tarik Ait El Fkih. Sponsored By: Aeronix Inc. . Project Description . Autonomous Robot with onboard auxiliary battery Used to provide supplemental power to mobile devices (laptops, mobile phones… etc )

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Power Bot

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  1. Power Bot Group 2 Luke Cremerius Jerald Slatko Marcel Michael TarikAit El Fkih Sponsored By: Aeronix Inc.

  2. Project Description • Autonomous Robot with onboard auxiliary battery • Used to provide supplemental power to mobile devices (laptops, mobile phones…etc) • Uses onboard navigation algorithms to navigate to users location • Has iOS application to provide robot statistics and is used to control PowerBot’s movements.

  3. Project Motivation • Battery life longevity in mobile devices is a constant issue. • Wanted to create a charging solution that could charge the device without inconveniencing the user. • The device would be simple to use, allowing for easy adoption into a users everyday routine.

  4. Objectives • PowerBot will be able to navigate autonomously to a users location. • PowerBot can be remotely controlled by user input, through the use of an onboard camera and the provided iOS application. • PowerBot will contain a battery used to charge external devices through the use of USB, DC, and inductive charging.

  5. Specs • Will be at most 36” long • Max speed of 5 mph • Battery life of minimum 24 hours • Able to charge mobile phone from 0% - 100% without needing to recharge internal batteries • Will re-charge internal batteries through in-home AC and/or via onboard solar panel. • Will navigate to the user autonomously • Can be operated via manual control

  6. Software Overview • Embedded software for navigationand power control • iOS application for controlling PowerBot • Wi-Fi module embedded software for communication with iOS app

  7. SoftwareLayout iOS Application MCU Embedded Software Embedded Navigation Algorithm Motor Control Power Management Servo Motors Sonar Sensors Solar Panel Charging Ports

  8. iOSApp • Written in Objective-C using Xcode 4.4 • Offers multiple options for PowerBot: • Settings • Navigation • Manual • Statistics

  9. iOS Views • Each view contains a separate viewController, allowing each tab to contain a unique layout of buttons and fields to be presented to the user.

  10. socketConnect Creates socket to IP Address on a given port NSOutputStream NSInputStream sendMessage Sends message from output buffer receiveMessage Receives mesassage from input buffer Message Instance parseMessage Analyzes message to determine function

  11. Wi-Fi Communication • Used as the primary mode of communication between PowerBot and the iOS Application. • 802.11 used as physical layer communication, with sockets used for higher level communication • RN-131 TCP/IP stack facilitates simpler TCP and UDP data transfer between PowerBot and its iOS App. Embedded Software iOS Software Application Layer Application Layer MCU - Serial iOS- Serial 802.11 - Socket 802.11 Socket

  12. Wi-Fi Module - RN-131 • The Microchip RN-131 provides a complete Wi-Fi solution for onboard communication with PowerBot • The integrated TCP/IP stack within the RN-131 allows for easier implementation of sockets and passing data via TCP/UDP

  13. RN-131 – Power Consumption • Provides low power • communication solution • 4uA Power Consumption when idle • 40 mA while active and connected • 140 mA Power while active and transmitting

  14. Power 14V 14V Reg 5V 3.3V DC Motors • Servo Motors Inductive Charger 5V Reg PIC 32 Obstacle Avoidance 16V Wireles GPS Compass Serial Camera 3.3V Reg

  15. Battery Requirement • 12 volt batteries • At least 2.4 Ah • Deep Cycle for increased usage time • low internal Resistance • High Depth of Discharge • Lightweight

  16. Battery Choice

  17. Lithium Polymer Battery • Li-Pol 18650 Battery • 22.2 v (working) • 25.2 V (peak) • 15 V (cut-off) • Reasons for choosing • High energy density (Wh/kg) • High energy/dollar (Wh/$) • High charge efficiency (80-90%) • Low self-discharge

  18. Alternative Power Source • Solar Panel: • Environmental Impact • Financial Benefits • Energy Independence

  19. Solar Panels Specifications

  20. Solar Power Selection Details

  21. Increase the efficiency • Increase the size of the solar panel • Implement a tracking system • Single axis tracking system • Dual axis tracking system

  22. Single Axis Control System Overview

  23. Dual Axis Control System Overview

  24. comparison and decision • Dual axis require more maintenance • Extra cost for buying an extra motor or actuator • Complexity • 6% extra efficiency

  25. How to implement • Rotate • Fixe the other angle At 15degree to have less losses

  26. Servo motor Specification • Control System: +Pulse Width Control 1500usec Neutral • Required Pulse: 3-5 Volt Peak to Peak Square Wave • Operating Voltage: 6.0 Volts • Operating Speed : 0.15sec/60 degrees at no load • Stall Torque: 51 oz/in (3.7 kg/cm) • Current Drain: 7.7mA/idle and 180mA no load operating • Dimensions: 1.57" x 0.79"x 1.44" (40 x 20 x 36.5mm) • Weight: 1.52oz (43g) • Price: $12.95

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