ECE 001:Team Awesome

ECE 001:Team Awesome

Patel, Hetal

Odobasic, Stephen

Rajeevan, Sushmitha

Noel, Kelli

Patel, Hetal

Odobasic, Stephen

Rajeevan, Sushmitha

Noel, Kelli

Mr. AwesomeMr. Awesome

ObjectivesObjectives

• Build robot and write program to operate robot

• Move robot from start to finish on dark line

• Have robot complete a U-turn

• Make robot return to the start point by following the black line

• Build robot and write program to operate robot

• Move robot from start to finish on dark line

• Have robot complete a U-turn

• Make robot return to the start point by following the black line

ResourcesResources

Parts: Two motors One handiboard Two analog sensors Lots and lots of Lego blocks Four tires-2 with rubber treads and 2 without

Parts: Two motors One handiboard Two analog sensors Lots and lots of Lego blocks Four tires-2 with rubber treads and 2 without

Source CodeSource Code

Overall while loop State dependent cycle

Complete one state and then move on to the next

Used for U-turn

Analog sensors Threshold of 200

Overall while loop State dependent cycle

Complete one state and then move on to the next

Used for U-turn

Analog sensors Threshold of 200

ProcedureProcedure

Wheels used instead of treads for better navigation Rubber wheels in back for better traction allowing

better use of power Front wheels without rubber to allow for smoother

turning Speed was set below full power to allow better

control

Wheels used instead of treads for better navigation Rubber wheels in back for better traction allowing

better use of power Front wheels without rubber to allow for smoother

turning Speed was set below full power to allow better

control

Order of DevelopmentOrder of Development

1. Source code and construction of robot prototype done simultaneously

2. Trial and error resulted in modifications to both code and robot

3. Final code written and final robot constructed

1. Source code and construction of robot prototype done simultaneously

2. Trial and error resulted in modifications to both code and robot

3. Final code written and final robot constructed

ChallengesChallenges Robot malfunctions

First prototype was built with wheels issue with gear ratio

Second prototype was built with treads Friction and weight of robot led to dilemmas

Final design Went back to wheels with a lower gear ratio that

worked less efficiently but provided better overall results

Front wheels without rubber treads to minimize friction and add control

Robot built with more fortification to sustain it under stress

Robot malfunctions First prototype was built with wheels

issue with gear ratio Second prototype was built with treads

Friction and weight of robot led to dilemmas Final design

Went back to wheels with a lower gear ratio that worked less efficiently but provided better overall results

Front wheels without rubber treads to minimize friction and add control

Robot built with more fortification to sustain it under stress

First Prototype

Second Prototype

Final Robot: Mr. Awesome

Programming ErrorsProgramming Errors Turns

Modified through trial and error until we concluded that one motor must have its speed reduced

U-turn Initial program resulted in the robot turning in circles Second attempt relied on imprecise time estimates We concluded that the program should be written into

two elements

Turns Modified through trial and error until we concluded

that one motor must have its speed reduced

U-turn Initial program resulted in the robot turning in circles Second attempt relied on imprecise time estimates We concluded that the program should be written into

two elements

Biomedical ExperimentBiomedical Experiment

A centrifuge is a device that separates liquids based on their density

Centrifuges can separate liquids faster by the “centrifugal” force than gravitational force

A centrifuge is a device that separates liquids based on their density

Centrifuges can separate liquids faster by the “centrifugal” force than gravitational force

Trial # Sensor reading (before

separation)

Sensor Reading

(after separation)

Oil

Sensor Reading

(after separation)

Water

Time to Separate (seconds)

Motor Speed

1 154 122 228 60 100

2 150 120 170 60 80

3 112 125 212 60 60

4 115 137 204 60 40

5 115 148 206 60 20

Change in Seperation Due to Motor Speed

0

50

100

150

200

250

0 20 40 60 80 100 120

Speed

An

alo

g S

en

so

r R

ea

din

g

Water

Oil

Linear (Oil)

Linear (Water)