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Automated Cargo Handling Crane and Railed Carry Truck

A prototype of a 3-dimensional motion crane for cargo handling and an automated railed carry truck for transport, both using microcontrollers for automation. Challenges include controlling motion and efficient algorithm implementation.

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Automated Cargo Handling Crane and Railed Carry Truck

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  1. autoport …..Technovanza ‘08

  2. CONCEPT • Prototype of a 3-Dimensional motion crane to be implemented on port for cargo handling of size 10’x10’x6’ • Crane used to load and unload cargo from ships to the port • Automation of crane using microcontrollers to follow exact X,Y,Z coordinates entered

  3. CONCEPT • Prototype of automated railed carry truck to transport containers from jetty to cargo hub based on separate microcontroller • Perfectly timed execution by communication between microcontrollers

  4. CHALLENGES • Control motion of the huge crane • Efficient algorithm to make the crane reach exact XYZ co-ordinates • Microcontroller interfacing with hardware

  5. ATTEMPT • It was the first attempt at VJTI to make working prototypes in the technical festival • It gave a lot of exposure to actual Mechatronics • It was a great learning experience to mix the programming with digital circuits and the Machine • We learnt what does it mean by ‘burning midnight oil’

  6. ABU-Robocon 2008 VJTI’s First Attempt

  7. What is Robocon? • The ABU Asia-Pacific Robot Contest or ABU ROBOCON is an annual international project organized by the ABU. • Doordarshan Robocon India started in the year 2002 with four teams participating from reputed institutes.

  8. Who can take Part? • Engineering and Diploma Students are allowed to participate in the competition. under standardized rules, entrants test their creativity and technology in an open competition. • About 40 teams turned up at Robocon 2008, each having paid an entry fees of Rs. 8000

  9. Common Misconceptions • Robocon is more about learning than about competition and winning. We learnt a lot, not only in the field of robotics but also about project management and most importantly about team work. • Robocon is not a festival. There are • No Food Courts • No array of Random Events • No Informal Events • No Song and Dance • It isn’t a conference - there are no talks, no presentations • No invited guests other than the judges and the sponsors and at times a few political bigwigs.

  10. So What is it? • Robocon is a grueling 4-5 day period, and that doesn’t include the 4 months before you get there. • Very Little food whenever we get a chance to walk to the place they give food. • Very little sleep here and there in the pit area, with a rather thin carpet/rug/whatever its called separating you from the bare ground of one of MIT's playground, a heated Soldering Iron 6 inches from your head, and someone using a Power Drill about 3 feet away.

  11. Why all the stress? • In this time, teams from all the colleges work round the clock reassembling, testing, and retrofitting robots to add functionality and fine tune their strategies, targeting individual teams and adapting their game plan according to what they think the opponent will do at each match. Things break, and need to be fixed. • Bugs show their ugly faces, accidents happen, and tempers are usually on a very short fuse.

  12. Why go through that much tension? • Robocon somehow pulls you back. Its been barely six months since we’re back and we’re all enthusiastic to go for the finals in Pune over the weekend. • The most attractive thing is the amount of talent under one roof, always gives something or the other to learn.

  13. VJTI at Robocon 2008 • Although it was VJTI’s first attempt, we pulled off a fairly decent standing. • In the preliminary rounds, we faced an uphill task because of our autonomous machine giving us unexpected problems, due to an array of reasons. • However we managed faced all odds to beat one team comprehensively, lost out narrowly to IIT Madras on violations and lost against MIT, the current India runners up.

  14. Auto-D

  15. OUR INSPIRATION • Driving in heavytraffic has becomecumbersome in major metros. • Autodriveis a way of mitigatingthis issue. • It is an attempt to improvesafety, comfort and economythrough automation. • Its an innovativetraffic solution system.

  16. PROJECT INSIGHT • The auto-D feature comes into play in high traffic region where the car usually shifts between the 1st and the 2nd gear, invoking partial automation. • In this phase partial control of the car is shifted to an onboard controller. • This involves automation of car control systems : brake, clutch, accelerator and the gear box. • Sensors help incorporate Collision avoidance system and autobraking override to improve safety

  17. INTERFACING • Servo motors are calibrated to bring about proportional changes in pedal angles via pulley arrangement. • Servos connected to fork system to control the gearbox. • Sensors mounted on front and rear of the car.

  18. GEAR VIDEO

  19. The avia The avia is a venture into aerial surveillance: A flying machine which is capable of hovering and moving with 6 degrees of freedom as well as go for long range surveillance with real time video transfer.

  20. Capabilities.. • The avia will be capable of vertical take-off and landing with short distances. • The wings will allow for efficient long distance reconnaissance coupled with highly maneuverable recon. For short distances. • The avia will be able to detach the wings during short range surveillance. • Real time video transfer will form an integral part of surveying.

  21. Whats being done.. • The first prototype with hovering abilities is ready with further developments being carried out. • The final bot will be a rotorcraft equipped with a set of wings for power efficient, long distance surveillance. • The live video transfer will enable the pilot to control the avia with ease as well as help in transferring data on the go.

  22. Whats been done….. • Here are a few pics and video of the first prototype..

  23. Whats next • The machine is to be refined further and every degree of freedom is to be achieved step by step. • Real time video transfer is to be perfected. • Stability of the craft is to be maintained at all times.

  24. And finally.. • The avia is sure a promising beginning for aeronautics in vjti..

  25. micromouse

  26. Micromouse is an autonomous self contained machine designed to get to the centre of a maze in shortest possible time. • A Micromouse essentially comprises of a drive motor or motors to move it. • a steering and turning method. • sensors to detect the presence or absence of maze walls. • sensors or control logic to oversee the action of the rest and keep the vehicle 'on track' or to solve the maze. • batteries to provide power.

  27. The premise of the MicroMouse contest is simple: design and build a small, autonomous robot that will find the center of a maze. • The mouse that makes it to the center of the maze is the winner. If more than one mouse makes it, then the mouse that gets there the fastest will be the winner. • Contestants are given 10 to 15 minutes to solve the maze, so many return to the start cell to make multiple runs. The fastest of these runs becomes the official time. • Championship-level mice can make it from the start cell to the finish cell in well under 20 seconds with top speeds averaging 2 meters/sec, now that's a fast mouse!

  28. The maze

  29. Micromouse at IIT TECHFEST

  30. this is how its really done…!

  31. Other than the locations of the start and destination cells, nothing else is known about the paths within the maze. • The walls of the maze can be set up in any configuration by the judges in charge of the contest. You will find that there are always several solutions to the maze. • This prevents robots from simply following the left or right walls to solve the maze (try it in the example above, it worn't work), and it makes the contest more interesting since "smarter" mice will look for the quickest path.

  32. Computing Power • Propulsion • Sensors • Chassis • Batteries

  33. When your mouse can move about the maze reliably, it must then be able to solve the maze. There are several popular algorithms for doing this. • The wall follower • Depth Search First • The Flood-Fill Algorithm • The Modified Flood-Fill Algorithm

  34. Arthros

  35. Whats all the noise about • Arthros is a project which deals with the creation of robots which make use of jointed appendages for locomotion. • These include • Biped Humanoid Robots • Quadraped Robots • Hexapod Robots • Octapod Robots …… the list goes on and on and on

  36. Why even bother • The very fact that 97% of the terrestrial population of the world requires legs for locomotion makes it imperative that robots master the skill of walking. These mechanical arthropods would have to run, jump and climb in the cities of our future

  37. Unlike conventional robots which use motors and wheels for locomotion these bots explore a whole new dimension in robotics • Thus these bots help us and apply understand concepts about balance and gait

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