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Name: Vivek Ramanathan

Team Members: John Rearick, Joanna McDonald, Rofin Maknojia


Class: POE Block 4
Date: 4/26/16
Assignment: Project 3.3.1

Design Problem
The problem is to make a device that will separate recyclable materials (4 or 5
marbles) for the NRPA in 2 minutes.
The learning objective are to use the design process and other engineering tools
and practices to solve the sorting system problem. Using these processes, we

will learn to utilize the vex components and coding to create a more complex and
efficient robot.
The criteria and constraints are that we must ensure that the separation process
is fully automated, utilize the materials in 1 VEX kit and other materials provided
by the instructor, successfully sort the materials (opaque plastic, clear plastic,
aluminium, steel, wood), ensure full control of marbles during the process, sort
16 marbles of 4 different types or 20 marbles of 5 different types and the process
must be completed in 2 minutes max.

Brainstorm Idea

In this solution, the balls are placed in an inclined bucket that is connected to the
mechanism using a sprocket with barriers on alternate spokes; This takes the
balls and adds them to the system.
For sorting the marbles, the solution uses an electromagnet, light sensor, and
see-saw to complete the task. The spheres roll down an inclined track and first
passes the electromagnet, which takes the steel ball and lets the rest pass.
Then they pass the light sensor, which detects the value of the aluminium ball
and triggers the movement of the flap to sort the aluminium spheres.
Next, the wood and plastic spheres arrive at the see-saw, which has a weight
equivalent to the wood on the opposite side. Allowing the wood to roll down to its
bucket and the plastic to tip the see-saw over to its bucket and fall in.

Decision Matrix
Name

Build
Time

Simplici
ty

Reliabilit
y

Run
Time

Coding

Total

John

3,2,2

2,3,3

2,2,3

3,5,4

3,3,4

44

Vivek

3,5,4

4,4,3

2,3,3

3,5,4

3,4,5

55

Joanna

2,3,2

2,3,3

3,4,5

3,5,4

3,3,2

47

Rofin

4,4,3

3,5,3

3,2,3

4,5,4

3,5,4

54

Using a scale from 1 to 5, 1 being the worst and 5 being the best, we were able
to determine which solution would be the best for us to continue our project with.
We had 3 people rating the ideas with this scale, where we could not rate our
own idea. We included build time, simplicity, reliability, run time, and coding to be
requirements for the solution in order to determine which solution would best suit
the task at hand. Build time was important because of the time constraints that
we anticipated to have, simplicity to aid with the build time and avoid too much
confusion, reliability was to ensure there were not too many loose parts or
possibly not functional parts, run time to ensure we met the time required to sort
the marbles, and coding to ensure that the coding would not be too complex.
Utilizing this decision matrix, we came to the conclusion that my solution for this
problem would have the most ideal result. We also decided that we would use
this as a base for our final solution, and incorporate other ideas from the other
mentioned solutions.
Using this process, we hoped to develop the most efficient machine for solving
the sorting problem.
Final Design Solution

After considering the decision matrix, we decided to utilize my idea for the marble
sorting problem. Due to its simplicity in coding and building, and the incorporation
of several physical tests to help sort the marbles we chose this design for our
solution. This seemed like a viable solution at the time. We also considered
adding ideas from other solutions to add to the efficiency of the final solution.
In this solution, the balls are placed in an inclined bucket that is connected to the
mechanism using a sprocket with barriers on alternate spokes; This takes the
balls and adds them to the system.
For sorting the marbles, the solution uses an electromagnet, light sensor, and
see-saw to complete the task. The spheres roll down an inclined track and first
passes the electromagnet, which takes the steel ball and lets the rest pass.

Then they pass the light sensor, which detects the value of the aluminium ball
and triggers the movement of the flap to sort the aluminium spheres.
Next, the wood and plastic spheres arrive at the see-saw, which has a weight
equivalent to the wood on the opposite side. Allowing the wood to roll down to its
bucket and the plastic to tip the see-saw over to its bucket and fall in.

Design Modifications

After considering the efficiency and reliability of my idea and the constant
failure to complete the task, we decided to change our solution to Johns idea
(Johns brainstorming solution is above). This was done by a vote for other
possible ideas from the three other members. This was our biggest change to our
project, and the most important decision for our eventual success. Afterwards,
while building the new solution, we made modifications to the new idea as well.
Thus, we added stands underneath the platform to elevate the whole
machine. This was done to ensure that we could fit the motor underneath the
marble compartments, to allow the compartment holder to turn around 360
degrees and not continuously collide with the table.
After this, we added a shaft encoder. This encoder was to enable us to
determine how much the motor should turn in order to sort the marbles in the
appropriate bins. This had to reset and allow us to turn the motor according to
the code.

Also, we changed the placement and shape of the funnel. So, our funnel
was attached to the top of the platform, yet not part of the platform. This made us
create a way to attach the funnel to the project. The funnel was also changed to
not be conical, but a rectangular, sloped plane that collected the marbles and
released them to the conveyor belt.
Final Design

Our robot was not very successful. Although it did not sort most of the marbles
accurately, a few marbles of the same type did land in the same compartment
occasionally. Also, our project successfully sorted all the steel marbles into one
compartment (the big white cup attached to the platform). Our machine sorted
the marbles under the time limit, and did not go over time. Our robot did not
break down and successfully completed the whole program.
ROBOTC Program

Design Process
Define the Problem :
During this step of the process, we were presented with the problem that
was meant to be solved using the VEX kits. We learned that we had to sort 4 or 5
different marbles into different bins or compartments. We had to ensure that the
separation process was fully automated, used components in one VEX kit,

successfully separated commingled (not lined up) recyclable materials into


individual holding bins. Recyclable materials included 4 different in. material
spheres totaling 16 marbles. Extra credit would be given for sorting 5 materials
(20 marbles) successfully. The marbles were steel, aluminum, wood, opaque
plastic, and clear plastic. 2 minute max was given for completion of the process.
Generate Concepts :
During this part of the design process, we brainstormed possible solutions
individually. This resulted in 4 different ideas to solve the recycling problem, and
unique combinations of techniques and tools. From these ideas we had to
choose the most plausible solution to create. To accomplish this task, we utilized
a decision matrix. This allowed us to use a variety of criteria to judge the various
ideas. We finally selected my idea from this decision matrix.
Develop a Solution :
In this part of the process, we made drawings of our new solution. This
included annotations and a description to help explain the purpose of the
proposed machine and the location of all the parts of the machine. Everyone had
a copy of the solution in their engineering notebooks.
Construct and Test a Prototype :
During this phase, we converted our annotated drawings into a machine
using the VEX kit. After building the solution for a few sessions, we realized that
this was not the most efficient and reliable system.
Evaluate the Solution :
After realizing that the solution would not work and not be produced in time
for the deadline, we decided to vote on another idea to work on. This resulted in
utilizing Johns idea as the final solution for our recycling project. Thus, we
repeated the construct and test a prototype phase as the design process is
iterative.
Present the Solution :

We presented our project through an informal presentation and


documented the machine working through a video and pictures of the final
product. We ran the program and structurally stable robot, and made it perform
the functions for marble sorting or recycling. We also explained the intended
function of the machine and the placement of different components around the
solution.
Team Evaluation
Joanna was a valuable addition to our team. She helped with the construction of
the robot, including the platform and other instrumental parts. She was very
efficient wit her work and was always on-task. She fulfilled all her responsibilities
and finished on time.
John made sure that all the requirements were met, we were on track for
finishing, and was very important to the building and coding process. His ideas
and thoughts were implemented on the robot. He was always on task and fulfilled
all his responsibilities.
Rofin was very instrumental in the planning process, helping with developing the
machine, coming up with new ideas, and he fulfilled all his responsibilities. He
was always thinking ahead.
I helped code and build the robot in order to meet all the specifications required .
I made sure that I worked on the project and fulfilled my responsibilities and tasks
agreed for me to do.
Reflection
a. What would your team do differently with your design solution and why?
To make our design solution function better, we would have made sure that
the values we measured using the light sensor were constant and controlled
using a controlled environment or placing the light sensor at a better angle to
gather the light, we would have increased the height of our platform to allow us to
attach the funnel easily, and we could have coded the compartment/bin turner to
better gather the marbles using encoder values and light sensor values.

b. What was the most challenging aspect of this design problem?


The most challenging aspect of this design problem was sorting the
marbles after they got passed the see-saw. This implies that gathering the light
sensor values was difficult as we had not positioned it right, and values always
changed depending on the situation. So, we would have make a more controlled
environment and more accurate light sensor readings.
c. What did you learn?
From this marble sorting project, I learned the importance of cooperating
with the team, accepting others ideas, ROBOTC coding, and converting drawings
of ideas into real-life concepts. This has allowed me to become better at using
VEX kits and programming for creating a better robot.
d. What were some of the challenges of working in a design team?
Some challenges that we faced were coordination, coding in time for the
deadline, and agreeing on a certain idea or method of completing the task at
hand. Also, time constraints caused us to make rash decisions and implement
ideas that would require less time.

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