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Team 23: 2013 IEEE ROBOT COMPETITION

Team 23: 2013 IEEE ROBOT COMPETITION. Team 23 – IEEE Region 5 Robot Competition F12-23-EEE1 Client: Ning Weng Team Members: Claudio Copello (ECE) Steven Lyle (EE) Klint Youngmeyer (CpE) Michael Hepburn (EE) Dhruti Joshi (CpE) Faculty Adviser: Nazeih Botros. Introduction.

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Team 23: 2013 IEEE ROBOT COMPETITION

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  1. Team 23: 2013 IEEE ROBOT COMPETITION

  2. Team 23 – IEEE Region 5 Robot Competition • F12-23-EEE1 • Client: Ning Weng • Team Members: • Claudio Copello (ECE) • Steven Lyle (EE) • Klint Youngmeyer (CpE) • Michael Hepburn (EE) • Dhruti Joshi (CpE) • Faculty Adviser: Nazeih Botros Introduction

  3. Introduction – Klint Youngmeyer • Executive Summary – Klint Youngmeyer • Executive Summary Cont. – Claudio Copello • Project Description – Dhruti Joshi • Functional Description • Drive /Power– Dhruti Joshi • Microcontroller – Steven Lyle • Sensors – Steven Lyle • Collection – Michael Hepburn • Summary – Michael Hepburn • Acknowledgements – Michael Hepburn Outline (KY)

  4. Forest Restoration, Human Intervention • Robot must navigate simulated forest with obstacles • Collect 6 soil samples in specified locations • Autonomous Robot • Rugged design • Vertical collection • Keeps Humans Safer • Samples needed quickly Executive Summary(KY)

  5. In order to accomplish the project, the expectations were being able to build an autonomous robot to navigate through the course and collect soil samples. The robot was able to navigate through the course and have a working collection system as well In terms of constraints from time and money, the expectations were met. • What were the expectations? • What was the outcome? • Were the expectations met in terms of performance, constraints (time, money, size, etc.)? Executive Summary (CC)

  6. Five subsystems • Power • Drive • Microcontrollers • Sensors • Collection System • SD card reads coordinates • Start button begins course of robot • Robot determines path from code • Robot detects obstacles/dowel rods and avoids/runs over them • Robot detects disc, collects • Robot ends at start of course Project Description

  7. Main Purpose • Provide power to microcontroller, servo, motors and sensors • Options • NiCd, NiMH • Justification • Very reliable in respect to voltage capacities • less energy waste compare to other conventional rechargeable batteries • Performance • The Eneloop batteries were recharged only two or three time during the design of the robot Power (DJ)

  8. Main Purpose • Navigate through the course • Options • Soft Plastic Tracks, Wheels, Hard plastic w/ Rubber Tracks • Justification • Better traction and easier to navigate • Performance • Successfully drive over the dowel rods • Navigate successfully through the course Drive System (DJ)

  9. Main Purpose • Control Robot • Options • 2 Arduino Uno • Arduino Mega 2560 • External Motor Controller • Justification • Programming the Mega was easier than programming 2 Uno • More available Interrupts • Motor Controller Stacks on top of arduino • Performance • Successful navigation & sensor readings Microcontroller

  10. Main Purpose • To get navigation feedback • Options • Infrared Object Detection • Reflectivity Wheel Encoding • Magnetometer • Justification • Object Detectors precise locating of the disc • Wheel encoding enabled feedback controlled drive maneuvers • Magnetometer allowed us to verify the robot’s orientation (error correction) • Performance • Successful navigation & sensor readings • Magnetometer did not work in the power lab Sensors

  11. Wheel Encoders

  12. Disc Detection Array

  13. Main Purpose • Vertical collection of disk with Probe • Options • Mechanical VS Magnetic • Storage of disk • Justification • Mechanical • Storage of disk in probe • Performance • Linear actuator • Trails Collection (MH)

  14. Project Overview • What does the robot do? • Benefits compared to others • Project Outcome • Implementation Cost: $875 • Implementation Time: ~80 hours Summary (MH)

  15. Dr. N. M. Botros (technical advisement) • Dr. F. Harackiewicz (design options and ideas) • Dr. A. Weston (design options and ideas) • Mrs. K. Purcell (design as well as technical writing mentoring) • Dr. V Singh-Gupta (technical writing mentoring) • Eric Grosshenrich (For donating shop time, equipment, and advice) Acknowledgements (MH)

  16. Feel free to ask any questions about the project. Questions?

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