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RAMMBO the Robot Butler

RAMMBO the Robot Butler. R obert Morson A ngela Uribe M elissa Jansen M ahdi M oghaddamzadeh B ianca Ragin O ur team (as stated above). Serves snacks/beverages upon request Find owner location Obstacle avoidance mechanism Used in offices and at homes to save time

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RAMMBO the Robot Butler

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  1. RAMMBO the Robot Butler Robert Morson Angela Uribe Melissa Jansen MahdiMoghaddamzadeh Bianca Ragin Our team (as stated above)

  2. Serves snacks/beverages upon request • Find owner location • Obstacle avoidance mechanism • Used in offices and at homes to save time • Served right to your desk, couch, beds, etc… Project Overview Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  3. Logistics Bianca Ragin

  4. Functional Gantt Chart Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  5. Generation of motor driver signals • Motor modes complete • Forward and Backward to show control • PCB revision 1 done • Power system functional • Command transmitter debugging interface • Robot body structure built Milestone 1 Deliverables Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  6. Looks pretty • Finalized body complete • Paddle sensors active • Optical encoder functioning • Obstacle maneuvering • Functional combination of blocks • Establish wireless communication • Comes on command Milestone 2 Deliverables Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  7. Receive commands • Sends back status updates • Finds caller through remote vs. computer • Maneuvers easily through congested room Design Expo Deliverables Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  8. Bianca Power Systems Primary and auxiliary power design Documentation and Schedule CDR compilation. Schedule tracking Hardware Frame design Material research Mahdi Wireless Core circuit design Peripheral design Circuit construction Microcontroller Software development Algorithm development Software development Sensing Ultrasonic Robert Microcontroller Lead software design Algorithm design Movement Command programming Test Design Test area design Test data collection Angie Movement Motor mount design Hardware Frame construction Material Testing Power Systems Power research Melissa Sensing Tactile Switches Ultrasonic Documentation and Budget CDR compilation. Resource tracking Test Design Hardware test design Test data collection Division of Labor Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  9. Monetary Budget Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  10. Power Systems Bianca Ragin

  11. 9V Battery Pack no more • Lead Acid Battery • 12VDC • 41 Watts per Cell • 10.5 Amp. Hr. • 8lbs overall • Rechargeable • Nonspillable Power Up Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  12. Through hole • LM317 • Voltage divider sets output voltage • Output Current = 1.5A • Needed Voltages: • 12V, 5V, 6.6V Voltage Regulator Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  13. Pin vs. Pout • Motors – 9V • Microcontroller – 9V • Xbees – 3.3V • Motor Driver – 6V • Encoder – 6V Power Testing Using Voltage Regulators Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  14. 9V Reg To motor To micro- controller Vin = 12V 9VCC 3.3V Reg To Xbee 3.3VCC 6V Reg To encoder To motor driver 6VCC Power Circuit Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  15. Board Design Melissa Jansen

  16. Functional Decomposition Level 0 Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  17. Functional Decomposition Level 1 Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  18. Functional Decomposition Level 2 - Motor Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  19. Functional Decomposition Infrared Sensor Level 2 – Obstacle Avoidance Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  20. Functional Decomposition Level 2 – Find Caller Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  21. Sensing Melissa Jansen

  22. Obstacle Avoidance Infrared Tactile Switches Obstacles • Single pole double throw • Short circuits when pressed • Very inexpensive • Simple to implement • Wall sensing • Transmitter & receiver next to each other • Very inexpensive Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  23. Ultrasonic • Need two units • Accurate within cm • Accuracy increases price • Not withinbudget • Transmitter on Remote • Two Receivers on Robot • Price within budget Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  24. Switches • Voltage • Interrupt • Infrared • Time delay • Interrupt Sensor Testing Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  25. Ultrasonic • Voltage based on signal strength • Comparison of voltages from separate receivers • Algorithm for movement working withmotors Sensor Testing Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  26. Programming and the Microcontroller Robert Morson

  27. Atmega 2560 • Direct subsystems control • Moving RAMMBO about • Atmega 328P • Wireless controller • Telling RAMMBO what to do Microcontrollers Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  28. WirelessData Transfer Send Data Back Command Receiver Main 2560 Software Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011

  29. Use Xbee • RS232 • One-byte commands • Send back information WirelessData Transfer • User Commands • 0x9: Come • 0xA: Go away • More for other functions • Testing commands • 0x0: Status • 0x1: Rotate Left • 0x2: Rotate Right • 0x3: Forward • 0x4: Stop Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  30. Wireless Transmission Location Detector Send Data Back Find Direction Command Receiver Main 2560 Software Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011

  31. Use Ultrasonic Sensing • A-to-D • Signal Strength • Comparison Location & Direction Sensing Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  32. Wireless Transmission Location Detector Movement Send Data Back Move Forward Find Direction Command Receiver Rotate Main Stop 2560 Software Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011

  33. PWM • Motors • Square Wave • Set period, duty cycle Movement Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  34. Wireless Transmission Location Detector Movement Send Data Back Move Forward Find Direction Command Receiver Rotate Main Stop Obstacle Handler Collision Detector User Interaction Blink Eyes 2560 Software Talk Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011

  35. Robert has no idea what he is talking about! • Pre-Recorded Audio • MATLABfor PWM Talking Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  36. Wireless Transmission Location Detector Movement Send Data Back Move Forward Find Direction Command Receiver Rotate Main Stop Obstacle Handler Collision Detector User Interaction Blink Eyes 2560 Software Talk Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011

  37. Set Informative LEDs Send Command Main Attend Response 328P Software Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011

  38. LEDs • Various Voltage-Testing Equipment • Logic Analyzer • Verify RS232 transmission • Output numbers from registers / variables Testing Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  39. Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011

  40. Motor Control Angela Uribe

  41. DC Motor • Two DC Motors 12 V Rated Voltage • Operating Voltage from 4.5V-12V • Max Current at 48mA • RPM at Max Voltage 415rmps Motors Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  42. Wild Thumper Wheel • 120X60mm • Easily mountable • Shaft diameter 4mm Tires/Castors • Carbon Steel Castor • Omni-directional • Ball material • One inch ball rotates Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  43. Hardware • GP2Y0D810Z0F • Operating range 2.7V-6.2V • Current pulled: 5mA • Digital voltage output • Distance sensor • 2cm-10cm Optical Encoders Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  44. Dual MC33887 Motor Driver • DC Motors Range 5V-28V • Used for Both Motors • Driver Chips • 2 Inputs CW/CCW and PWM • 2 Enable Pins • 2 Disable PWM inputs “Low” Motor Driver Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  45. MC338877 Motor Diver Chip Motor Driver Schematic Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  46. Hardware • Pulse Width Signal • Speed of Motor • Forward/Reverse • Supply Voltage of 4V-12V • Software • Set Speed • Set Direction • Enable Motor Driver to Motor Testing Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  47. Communication Mahdi Moghaddamzadeh

  48. Two Xbees • RX, and TX ports for communication • Powering Xbees through Microcontrollers Wireless Communication Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  49. 5 V from Atmega 5 V Data Output Ground from Atmega 5 V Data Input • 3.3 V to 5 V and vise versa Voltage Level Shifter Ground from Xbee 3.3 V Data Output 3.3 V Data Input 3.3 V from Xbee Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

  50. 1st stage: PC to PC • 2st stage: PC to Atmega • 3rd stage: Atmega to Atmega Communication Testing Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011

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