Midterm Presentation Meet the Team Competition Overview Design Constraints System Design Approach & Tradeoff Analysis Progress and Prototype Timeline Jackson Knott Electrical Engineer PIC Programming Hardware Brian Lampkin Electrical Engineer Vision Programming Hardware Matt Watts Electrical Engineer PIC Programming Debugging Matt Williams Electrical Engineer PIC Programming Hardware John Morrison Electrical Engineer PIC Programming Debugging Ian Turnipseed Electrical Engineer Vision Programming Research Dr. Robert Reese Advisor Meet the Team Competition Overview Design Constraints System Design Approach & Tradeoff Analysis Progress and Prototype Timeline IEEE SoutheastCon 2013 Hardware Competition - Jacksonville, FL Required Tasks: Block Color/Size Recognition Zone Color/Size Recognition Pick Up Blocks Deliver Blocks Autonomous Navigation Competition Specifications: Three Separate Loading Zones Fourteen Cargo Blocks Five Minute Time Limit Unbounded Ramp Size-Limiting Starting Zone for Robot [1] Meet the Team Competition Overview Design Constraints Technical Practical System Design Approach & Tradeoff Analysis Progress and Prototype Timeline NameDescription Multiple Block Carrier The robot must carry the maximum allowed number of blocks. NavigationThe robot must navigate the course autonomously. DetectionThe robot must detect color and size of blocks and spaces. SpeedThe robot must travel at a speed of 0.4 feet/second. SizeThe robot must be no larger in size than 12x12x16 [1] Meet the Team Competition Overview Design Constraints Technical Practical System Design Approach & Tradeoff Analysis Progress and Prototype Timeline TypeName ManufacturabilityModular Design SustainabilityBattery Life The layout of our robot should have easily exchangeable parts in order to be able to replace parts quickly. Emergency Plan for Competition Easy Maintenance The robot must have a rechargeable battery that can last for a minimum of fifteen minutes. Preparation Time for Competition Troubleshooting Available for Multiple Rounds Meet the Team Competition Overview Design Constraints System Design Approach & Tradeoff Analysis Progress and Prototype Timeline Microcontroller CPUSensors Camera Grippers Motors Meet the Team Competition Overview Design Constraints System Design Approach & Tradeoff Analysis Progress and Prototype Timeline CHOICESPROSCONS Mini-ITX with Camera-Detect Size/Color Simultaneously - Detect Block Location Relative to Grippers - High Power Consumption - Heavy RGB Sensors with Array of IR Line Sensors - Low Power Consumption - Simple - Light - Needs Closer Proximity to the Blocks - Requires Extra Movement - Must be Precise CHOICESPROSCONS Mini-ITX with Camera-Detect Size/Color Simultaneously - Detect Block Location Relative to Grippers - High Power Consumption - Heavy RGB Sensors with Array of IR Line Sensors - Low Power Consumption - Simple - Light - Needs Closer Proximity to the Blocks - Requires Extra Movement - Must be Precise CHOICESPROSCONS C#- Faster - Better Debug Capabilities - Lengthy Code Python- Simple - Compiles/Runs Simultaneously - Slower CHOICESPROSCONS C#- Faster - Better Debug Capabilities - Lengthy Code Python- Simple - Compiles/Runs Simultaneously - Slower CHOICESPROSCONS Intel Atom D2700- Low Power Consumption - No Forced Air Ventilation - Low Processing Power AMD A75- Low Power Consumption - No Forced Air Ventilation - Cheaper - More Heat - Low Processing Power Intel Core I7- High Processing Power - Integrated Graphics - Required External Air Ventilation - Expensive CHOICESPROSCONS Intel Atom D2700- Low Power Consumption - No Forced Air Ventilation - Low Processing Power AMD A75- Low Power Consumption - No Forced Air Ventilation - Cheaper - More Heat - Low Processing Power Intel Core I7- High Processing Power - Integrated Graphics - Required External Air Ventilation - Expensive CHOICESPROSCONS iStarUSA S-0512-DT Mini- ITX Case - 5 Drive Bay - Aluminum - More Expensive Habey EMC-600BL Mini- ITX Case - Cheaper - Aluminum - Smaller CHOICESPROSCONS iStarUSA S-0512-DT Mini- ITX Case - 5 Drive Bay - Aluminum - More Expensive Habey EMC-600BL Mini- ITX Case - Cheaper - Aluminum - Smaller CHOICESPROSCONS Claw- Easier Pickup/Drop Off - Easier Alignment - Retractable - Could Drop Block Scoop- Fewer Servos Necessary - Unlikely to Drop Block - Harder Pickup/Drop Off - Cant fully Retract CHOICESPROSCONS Claw- Easier Pickup/Drop Off - Easier Alignment - Retractable - Could Drop Block Scoop- Fewer Servos Necessary - Unlikely to Drop Block - Harder Pickup/Drop Off - Cant fully Retract CHOICESPROSCONS Sparkfun Robotic Claw ROB Clearance - Parallel Arm Movement - Metal-based - Must be Assembled - Small Gripping Area Lynxmotion A-Style Gripper Kit - Parallel Arm Movement - Assembled with Servos Clearance - PVC-based - Small Gripping Area Custom Built Gripper- Built to Specification- Time-consuming CHOICESPROSCONS Sparkfun Robotic Claw ROB Clearance - Parallel Arm Movement - Metal-based - Must be Assembled - Small Gripping Area Lynxmotion A-Style Gripper Kit - Parallel Arm Movement - Assembled with Servos Clearance - PVC-based - Small Gripping Area Custom Built Gripper- Built to Specification- Time-consuming CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Dead Reckoning- Simple Task- Less Accurate CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Dead Reckoning- Simple Task- Less Accurate CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 30cm) - Readily Available - Must be Placed at Precise Angle SRF08 Ultra Sonic Range Finder - Readily Available- Longer Distances (3-600cm) - Expensive - Possible Interference Omron Micro Switch V-15G3- 1C25-K - Readily Available - Inexpensive - No Interference - Requires Servo for lowering CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 30cm) - Readily Available - Must be Placed at Precise Angle SRF08 Ultra Sonic Range Finder - Readily Available- Longer Distances (3-600cm) - Expensive - Possible Interference Omron Micro Switch V-15G3- 1C25-K - Readily Available - Inexpensive - No Interference - Requires Servo for lowering CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Dead Reckoning- Simple Task- Less Accurate Wheel Encoders- Accurate Location- Drifting CHOICESPROSCONS Range Finders- Easy to find Objectives - Easy Alignment - Less Accurate - Sensor Interference Dead Reckoning- Simple Task- Less Accurate Wheel Encoders- Accurate Location- Drifting CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 30cm) - Readily Available - Only detects out to 30 cm SRF08 Ultra Sonic Range Finder - Longer Distances (3-600cm) - Readily Available - Expensive - Possible Interference CHOICESPROSCONS Sharp 2D120X Infrared Sensor - Shorter Distances (4 30cm) - Readily Available - Only detects out to 30 cm SRF08 Ultra Sonic Range Finder - Longer Distances (3-600cm) - Readily Available - Expensive - Possible Interference CHOICESPROSCONS 67:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder V - Integrated Encoder - High Torque (200 oz-in) - $40/motor Micro DC Geared Motor FIT V - Readily Available - $6/motor - Low Torque (26.6 oz-in) - High Rate of Failure CHOICESPROSCONS 67:1 Metal Gearmotor 37Dx54L mm with 64 CPR Encoder V - Integrated Encoder - High Torque (200 oz-in) - $40/motor Micro DC Geared Motor FIT V - Readily Available - $6/motor - Low Torque (26.6 oz-in) - High Rate of Failure CHOICESPROSCONS Tamiya Racing Wheels- $6.50/pair - Available in Lab - Weak Grip Pololu Wheel 80x10mm- Strong Grip - Can provide extra support by adding more wheels -$9.25/pair CHOICESPROSCONS Tamiya Racing Wheels- $6.50/pair - Available in Lab - Weak Grip Pololu Wheel 80x10mm- Strong Grip - Can provide extra support by adding more wheels -$9.25/pair CHOICESPROSCONS Ball Casters- Available in Lab- Shorter Overall Height - Possibility of Failure on Ramp Wheel Casters- Greater Overall Height - Available in Lab - Wheel must align correctly for a turn CHOICESPROSCONS Ball Casters- Available in Lab- Shorter Overall Height - Possibility of Failure on Ramp Wheel Casters- Greater Overall Height - Available in Lab - Wheel must align correctly for a turn Meet the Team Competition Overview Design Constraints System Design Approach & Tradeoff Analysis Progress and Prototype Timeline Added Sonar Sensors for Initial Testing on a Functional Platform Camera Mount for Vision System Navigation Prototype Circuit Ultra Sonic Sensor Infrared Sensor Meet the Team Competition Overview Design Constraints System Design Approach & Tradeoff Analysis Progress and Prototype Timeline AugustSeptemberOctoberNovemberDecember Strategy and Course Construction Research and Purchasing Programming Circuit Design Debugging Prototype [1] IEEE SoutheastCon 2013 Hardware Competition. Final Version. 11 Sep _2013_Hardware_Rules.pdf_2013_Hardware_Rules.pdf Questions