Automated Distinguisher (AD)Automated Distinguisher (AD)New York City Research InitiativeNew York City Research Initiative

Athar Abdul-QuaderStephen Brandes

Isaiah Silver

Mentor: Professor Vikram Kapila

Mechanical Engineering

Polytechnic University

AbstractAbstractMechatronics is a field encompassing mechanical, electrical

and computer engineering. Its principles can be implemented in robotics. Our project, the Automated Distinguisher (AD), can identify objects and determine whether it is a metal or non-metal substance. The technologies used here, when improved, can also be used to map out specific areas or sort objects based on their material.

The project began with brainstorming sessions where diagrams of our potential robot were drawn and revised. Materials, such as the metal detector and infrared sensors, were chosen. The robot was then assembled using a Plexiglas shell and two servo motors. Two front wheels were connected to the motors and a third wheel was put in the back for stability. After the circuitry was completed, the microcontroller was programmed and tested. Using aluminum (metal) soda cans and plastic (non-metal) bottles, the robot was tested to see if it could first detect an object and then determine its material. The robot is able to notify others to the presence of metals through the use of a piezo speaker and if improved upon, can lead to many future applications.

DescriptionDescription 5 in. x 4 in. x 1.5 in. mobile robot 2 3.25 in. (diameter) wheels 1 1.5 in. (diameter) stabilizing wheel Moves within certain range Detects objects using IR sensors Pauses to analyze each object Beeps if it senses metal Turns away and continues searching

SignificanceSignificanceScouting robot

Detects all objects in its range

Alerts others to presence of metals

BackgroundBackground

Structured Projects– Learn electric and electronic

components– Build circuits from schematic– Download program into the

microcontroller– Run the experiments– Discussion of future applications

Source: Schematic from “What is a Microcontroller?” - Parallax, inc.

Source: Parallax.com

PlanningPlanning Brain storming of the functions

Draw diagrams for AD

Choosing proper materials– Plexiglas casing– Metal detector– Infrared Transmittors/Detectors– Piezo speaker– Servo motors– Wheels

MethodologyMethodology

Hardware assembly– Connect materials– Position IR sensors

Software development– Programming each

function individually– Movement, IR sensing,

metal sensingSource: “Robotics!”, Parallax, inc.

Methodology (continued)Methodology (continued)

Test and calibration– Trial runs for IR detection

Robot move towards objects Stop when close to them

Testing of metal sensor– Connected to direct power– Tested with metal objects

AnalysisAnalysisProblem #1: IR sensors detect brighter

objects from farther away– Darker objects used– Robot programmed to move forward a little

extra when in closest zoneProblem #2: At certain angles, robot would

not stop at correct position– Could not be solved with current resources– Could be solved using additional metal sensors

Project TimelineProject Timeline

ConclusionConclusion

Overall, the project was a success. As intended, the robot moves towards any objects it detects, and almost always comes close enough to analyze them (the only exception is the previously stated problem about the angle of detection). It fulfills our original goal of distinguishing between materials and through further programming, could develop into a more advanced scouting robot. A system could be developed to send information back to the brain. The information could include a map of the area and the positions of the objects in that area. Further hardware development could include a gripping mechanism that would allow the objects to be picked up and brought back to a specific location. With these significant improvements, the Automated Distinguisher could become greater than we had ever expected it to be.