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RAMMBO the Robot Butler

RAMMBO the Robot Butler. R obert Moroson A ngela Uribe M elissa Jansen M ahdi M oghaddamzadeh B ianca Ragin O ur team (as stated above). S erves snacks/beverages upon request Find owner location Obstacle avoidance mechanism CANDY SHOOTER!!!. Objectives.

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RAMMBO the Robot Butler

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

  2. Serves snacks/beverages upon request • Find owner location • Obstacle avoidance mechanism • CANDY SHOOTER!!! Objectives Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  3. Useful for disabilities limiting ability to walk • Used in offices and at homes to save time • Separate refrigerator unit to load RAMMBO • Served right to your desk, couch, beds, etc… Applications & Advantages Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  4. Low • Able to navigate itself • Find signal coming from owner • Move towards signal • Med • Recognize and avoid obstacles • Receive vocal commands • In form of claps • High • Able to carry and shoot candies on command Goals Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  5. Sending Commands Wireless Transmitter Wireless Receiver Functional Outline . Microprocessor Voltage Amplifier Powering Motors Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  6. Object sensing system • Powerful RF transmitter and receiver • Efficient program for path finding/rerouting • Cost • Candy shooting system Constraints Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  7. Xbee 1mW “Series 1” boards • Range = 300 feet • USB programmable • 3.3 V’s, 50 mA • 250 Kbps data rate • 128 bit encryption Wireless Communication Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  8. Software

  9. Control • ATmega2560 microcontroller • Input voltage: 7-12V • 54 Digital I/O Pins (14 PWM outputs) • 16 Analog Inputs • 256k Flash Memory • 16Mhz Clock Speed Arduino Mega 2560 Microcontroller Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  10. Control Wheel Control Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011 Wireless Communication Position Sensing Sensors

  11. Testing commands • 0x0: Status • 0x1: Rotate Left • 0x2: Rotate Right • 0x3: Forward • 0x4: Stop • User Commands • 0x9: Come • 0xA: Go away • More for other functions Code Command 0 1 2 3 4 5 6 7 User Control Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  12. Wait for command • Locate user • Navigate to user • Don’t bump into stuff • Stop Software Flow Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  13. Arrival Maze-Running Algorithm Goal Locator User Control Await Command Command Select Direction Interrupt No Command Sound-Recognition Obstacle Detector Go Forward Interrupt Software Flow Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  14. Hardware

  15. Sensing Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  16. Obstacles • Distance Sensing from 3cm to 30cm • More expensive than Infrared • Cliff Sensing • Wall Sensing • Transmitter & Receiver next to each other • Very Inexpensive • Single Pole Single Throw • Short Circuits when Pressed • Very Inexpensive • Simple to Implement Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  17. GPS vs. Ultrasonic • Need two • Remote • Robot • Accurate within cm • Accuracy increases price • Not within our budget • Transmitter on Remote • One or Two Receivers on Robot • Price within our budget Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  18. Hardware Flow Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  19. Disposal of parts • 2-3 feet tall • Tripping hazard • Risk of it knocking items over if it hits a table Environmental & Safety Impact Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  20. Operation & Appearance

  21. Microcontroller Motor Driver Movement 4 Motors 4 Optical Encoders 4 Tires & Wheels Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  22. HT08-020 Stepper Motor • Two-phase stepper motor • Suitable for a wide range of motion control applications • High Torque Weight 0.1lbs • Phase Voltage: 2.8V Motors Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  23. Northern Pneumatic Wheels • 8" Tires • Non-marking Tires • 250lbs Capacity Tires Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  24. Size: 0.48" diameter • Single chip sensing technology • -40°C to 125°C operating temp • 10-bit Analog output • 2.6 kHz sampling rate • 10-bit PWM output • 1024 positions per revolution Optical Encoders Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  25. Chip protects logic chips • Isolate electrical noise • Prevents short-circuits • Diodes give voltage protection • Capacitors reduce electrical noise and provide peak power • Pull-up resistors prevent motor movement during power up/down Motor Driver Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  26. Physical Design Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  27. Division of Labor Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 9/06/2011

  28. 9V Battery Pack • Motor Driver – 12V • Motors – 5V • Encoder – 5V • Microcontroller – 12V • Xbees – 6.6V • Total: three 9V batteries Power Up Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  29. Logistics

  30. By CDR: • Finish core and peripheral circuit design • First revision of prototype • Software implementation • Finalize body design By PDR: • Initial version of users manual written • Create core circuit design • Fill out UROP funding form • Order parts Schedule Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  31. Milestone 1 • Motor and power systems functional • Move through instantaneous input • Command transmitter good for debugging • Programming completed Milestone 2 • Obstacle maneuvering • Establish wireless communication • Comes on command • Looks pretty • Full body built Schedule Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  32. Functional Gantt Chart Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  33. Planned Budget Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  34. Donations • Microcontroller • 9V Batteries • Robot structure • Funding • 3rd party support • UROP Grant Financial Aid Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  35. Manufacturability • Accurate Wireless communication • High resolution motors • Body holds weight of other parts • Sustainability • Low power consumption • Reliable parts and processors • Straight-forward debugging Manufacturability & Sustainability Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

  36. Questions? Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other9/06/2011 Thanks 

  37. Questions? Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other9/06/2011 Thanks 

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