JEEVES the Robot Butler

Team JEEVES

Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed Ebadi

A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment

Project Objectives•Create a Robot System that:

▫Carries Beverage From Vendor to User▫Detects Direction of Beacon Signal▫Dynamic Path Finding Based on Ultra-Sonic

Sensors▫Detects When To Stop▫Able to Return to Base Station

Bogdan Pisica

Project Purpose

•Possibilities for Nursing Homes or Hospitals.▫Base Station with multiple robots

delivering meds, food, etc. to patients•People with disabilities•Convenience

Bogdan Pisica

Achievable Goals

• Implementation of the Robotic Chassis•Detection of Feedback on Robotic Motors•Robot Is Able To Move From Point A to Point

B•Sonar Object Detection•Beacon Initiates Robotic Movement•Capable of Carrying a Beverage

Bogdan Pisica

Medium Level Goals

•Robot Able to Detect Direction of Beacon

•Dynamic Object Avoidance•Calibration of Wheels Based on

Feedback•Returns to Point A

Bogdan Pisica

High Level Goals

•Beverage Dispenser That Contains Multiple Options

•Beacon Allows for Multiple Selections•Multiple Users

Bogdan Pisica

Details of Design

Details of Design

•Three Separate Pieces• Robot, Base Station, Remote• Majority of the Processing Power will be

in the Robot• Remote and Base Station both Transmit

Daniel Steffy

Robot Design• State Machine in Microcontroller• Different Batteries for Motors, Sensors and Microcontroller• Sensors:• Beverage Presence

Monitor (BPM)• RFID Reader• Directional Antennae• Ultra-Sonic Sensors

Daniel Steffy

State Machine

Daniel Steffy

Remote Design

• User Interface

• Unique RF ID tag

• Communications with Base Station (XBee)

• RF Transmitter Beacon

• Logic Interfaces with Modules

Daniel Steffy

Base Station Design

Daniel Steffy

Motors• Reluctance

Motor High Power Density Feed back system

needed Magnetic Reluctance

[resistance]

• Stepper MotorPreciseNo calibration

needed

Hameed Ebadi

Microprocessor

•MSP 430 F2616X•Low Supply Voltage Range

1.8 V to 3.6 V•16-Bit RISC Architecture•64 I/O pins•12 A/D and 12 D/A

Convertor Pins

Hameed Ebadi

AntennaWave Properties to worry about• Transmission (use high frequencies to

avoid)• Refraction• Reflection• Absorption• Diffraction

Hameed Ebadi

Xbee Wireless Comm

Signal Strength Detection

Possible Design Ideas• Multiple Xbee• Rotation

Chris Pearson

Ultrasonic Sensor

•PING (Ultrasonic Sensor)

•Precise, non-contact distance measurement from 2 cm to 3 m.

•20 mA, 5 VDC•Narrow Acceptance

Angle•Multiple Sensors

Chris Pearson

Power

•Motorcycle battery for robot main power•9v for remote beacon•Wall wart for base station

Chris Pearson

Division of Labor  Task   Alissa   Bogdan   Chris   Danny   HameedElectrical                        Controls                      Sensors       X   X          Comm           X   X      PCB   X   X   X   X   X  Power   X   X           XSoftware                      

 Path Finding       X       X    

 State Machine   X   X       X    

 Device Interfacing           X       X

  Debugging   X   X   X   X   X

Mechanical                        motors   X           X      wheels   X           X      antenna   X   X              chassis   X   X                                   System                      

  Integration   X   X   X   X   X  Testing   X   X   X   X   X                       Documentation     X   X   X   X   X

Alissa Halvorson

Schedule

Alissa Halvorson

BudgetPart Description Price ($)

Comm System Xbee Series 1 75

Micro-Controller System

MSP430 150

Antenna 20

Motor System 200

Batteries/Power Motorcycle/9v/Wall 100

Sonic Sensors PING))) 120

RFID System 100

PCB 105

Mechanical Wheels/Chassis 150

Printing Expo Docs 150

Misc 200

TOTAL 1370

Alissa Halvorson

Funding

•UROP•Team Members•Donations•Scavenging

Alissa Halvorson

Risks and Contingency Plans

•Ultra-sonic sensors don't work or too much interference▫Use bump sensors

•Failure to detect beacon signal direction▫Use IR "line of

sight" sensors

•Run out of time or money▫Reduce

features/capability•Mechanical issues

▫Enlist mechanical major's help

Alissa Halvorson

Questions?