WANDERING AMBASSADORP112152010-1 2010-2

Team Members: Chris Hoerbelt (ME) Greg Mucks (ME) Anthony Poli (ME) Justin Akerman (CE) Jon Notaro (EE) Hersh Anand (EE) Eric Tripp (EE)

Faculty Guide: George Slack

Background:Customer conceptualized a robot which demonstrates RIT’s commitment to sustainable energy, innovation, and creativity. The robot would engage in a symbiotic relationship with the plant passenger and by meeting the needs of the plant (sunlight, water), the plant’s needs would positively influence the robot’s actions.

Mission:Integrate existing hardware with newly designed subsystems to deliver functional prototype ready for software development

Key Objectives:• Debug I2C communication interface• Design & integrate sensor circuitry• Implement redundant safety features• Design easy-to-use transport mode• Optimize sensor layout • Design vibration mitigation features• Fabricate and assemble full prototype

Primary Customer: Stan Rickel

Last line of defense after all other bump detection methods fail. Circuit detects motor current draw spike and cuts power to motors and sends signal that current has spiked.

Current Limiting Circuit Bumpers were loaded with maximum calculated drive load and achieved a factory of safety of 2.0.

FEA Analysis

Handle available for transporting the robot. Collapsible when robot is in use.

Transport Handle

Chain Guard

Plant

Emergency Stop Button

Bump Sensor

Water Reservoir

Transmission gears coupled to allow motor drive.

Transmission Engaged

Transmission gears un-coupled to allow pushing of robot

Transmission Disengaged

TransmissionDrive Wheel Support

CasterMotor

Upgraded Platform Prototype

MSP430 MicrocontrollerBeagleboard

Computer

Beagleboard Computer

Motor Control Microcontroller

Motors

Shaft Encoders

Plant Care Microcontroller

Water Pump

Moisture

Photo diode

Temperature

Navigation Microcontroller

Compass

Accelerometer

High Level Control / Decision Making

Input / command interpretation

Input / Output devices

Input / Output Ports

Power Conversion

Upgraded Drivetrain

Main Logic Board

Control Hierarchy

Onboard Sensors

Inherited Platform Upgraded Platform Model