RAMMBO the Robot Butler RAMMBO the Robot Butler R obert Moroson A ngela Uribe M elissa Jansen M ahdi Moghaddamzadeh B ianca Ragin O ur team (as stated

RAMMBO

the Robot

Butler

Robert Moroson

Angela Uribe

Melissa Jansen

Mahdi Moghaddamzadeh

Bianca Ragin

Our team (as stated above)

Obje

ctiv

es

Serves snacks/beverages upon request

Find owner location

Obstacle avoidance mechanism

CANDY SHOOTER!!!

Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Applic

ati

ons

& A

dva

nta

ges

Useful for disabilities limiting ability to walk

Used in offices and at homes to save time

Separate refrigerator unit to load RAMMBO

Served right to your desk, couch, beds, etc…


Goals

Low Able to navigate itself

Find signal coming from owner

Move towards signal

Med Recognize and avoid

obstacles

Receive vocal commands In form of claps

High Able to carry and shoot

candies on command


Functional Outline .

Sending Commands

Wireless Transmitte

r

Wireless Receiver

MicroprocessorVoltage

AmplifierPowering Motors


Const

rain

ts

Object sensing system

Powerful RF transmitter and receiver

Efficient program for path finding/rerouting

Cost

Candy shooting system


Wir

ele

ss

Com

munic

ati

o n

Xbee 1mW “Series 1” boards

Range = 300 feet

USB programmable

3.3 V’s, 50 mA

250 Kbps data rate

128 bit encryption


Software

ATmega2560

microcontroller

Input voltage: 7-12V

54 Digital I/O Pins (14 PWM

outputs)

16 Analog Inputs

256k Flash Memory

16Mhz Clock Speed

Arduino Mega 2560

Microcontroller


Control

Control


Wireless Communication

Sensors

Position SensingWheelControl

User Control

Testing commands 0x0: Status

0x1: Rotate Left

0x2: Rotate Right

0x3: Forward

0x4: Stop User Commands 0x9: Come

0xA: Go away

More for other functions

Code 0 1 2 3 4 5 6 7

Command


Soft

ware

Flo

w

Wait for commandLocate userNavigate to user Don’t bump into stuffStop


Software FlowTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Sound-Recognitio

n

Goal Locator

Go Forward

Arrival

Obstacle Detector Interrupt

Await Comman

d

Maze-Running Algorith

m

Select Direction

CommandUser

Control

Inte

rrup

t

No Command

Hardware

SensingSensing

Obstacle Avoidanc

e

Infrared Pressure Ultrasonic

Find Caller

GPS Ultrasonic


Obsta

cles

Cliff SensingWall SensingTransmitter & Receiver next to each otherVery Inexpensive

Distance Sensing from 3cm to 30cm

More expensive than

Infrared

Single Pole Single ThrowShort Circuits when PressedVery InexpensiveSimple to Implement

Obstacle Avoidanc

e

Infrared Ultrasonic Pressure


GPS vs.

Ultra

sonic

Find Caller

GPS Ultrasonic

Transmitter on Remote

One or Two Receivers on Robot

Price within our budget

Need two Remote Robot

Accurate within cm Accuracy increases

price Not within our

budgetTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Hardware

FlowTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Envi

ronm

enta

l & S

afe

ty

Impact

Disposal of parts 2-3 feet tall Tripping hazard Risk of it knocking items over if it hits a

table


Operation & Appearance

Move

ment


Microcontroller

Motor Driver

4 Optical Encoders

4 Motors

4 Tires & Wheels

MotorsHT08-020 Stepper Motor

Two-phase stepper motor

Suitable for a wide range of

motion control applications

High Torque Weight 0.1lbs

Phase Voltage: 2.8V


Tire

s Northern Pneumatic Wheels

8" Tires

Non-marking Tires

250lbs Capacity


Opti

cal

Enco

ders

Size: 0.48" diameter

Single chip sensing technology

-40°C to 125°C operating temp

10-bit Analog output 2.6 kHz sampling rate

10-bit PWM output 1024 positions per revolution


Moto

r Drive

r

Chip protects logic chips

Isolate electrical noise

Prevents short-circuits

Diodes give voltage protection

Capacitors reduce electrical noise and provide peak power

Pull-up resistors prevent motor movement during power up/down


Phys

ical

Desi

gn


Division of Labor

Physical Design1st : Bianca2nd : Angie

Budget/Schedule

1st: Melissa2nd: Bianca Power

1st :Bianca2nd : Angie

Wireless1st : Mahdi

2nd : Melissa

Sensing1st : Melissa2nd : Mahdi Movement

1st : Angie2nd : Robert

Microcontroller1st : Robert2nd : Mahdi


Pow

er

Up

9V Battery Pack Motor Driver – 12V Motors – 5V Encoder – 5V Microcontroller – 12V

Xbees – 6.6VTotal: three 9V batteries


Logistics

Sch

edule

By PDR:

Initial version

of users manual written

Create core circuit design

Fill out UROP funding form

Order parts

By CDR:

Finish core and peripheral circuit design

First revision of prototype

Software implementation

Finalize body design


ScheduleMilestone 1

Motor and power systems functional Move through

instantaneous input

Command transmitter good for debugging

Programming completed

Milestone 2

Obstacle maneuvering

Establish wireless communication Comes on

command

Looks pretty Full body built


Functional Gantt Chart


Pla

nned

Budget

Item PurposeCost (Est.

)XBee 1mW

Chip (2)Wireless Comm $50

XBee Explorer USB

(2)

Development Board

$50

AtmelActual

Microcontroller$10

Wheels (4) Movement $60Motors (4) Movement $355

Encoders (4) Motor Control $160

Tax/Shipping ------------------------- $50

Total $735


Financia

l Aid

Donations

Microcontroller

9V Batteries

Robot structure

Funding

3rd party support

UROP Grant


Manufa

ctura

bili

ty &

Sust

ain

abili

ty

Manufacturability Accurate Wireless

communication High resolution motors

Body holds weight of other

partsSustainability Low power consumption

Reliable parts and processors Straight-forward debugging


Questions?Thanks


Questions?Thanks


Documents

RAMMBO the Robot Butler RAMMBO the Robot Butler R obert Moroson A ngela Uribe M elissa Jansen M ahdi Moghaddamzadeh B ianca Ragin O ur team (as stated