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Presented by:
Team J1
Eric Adams Chris Eaton Kevin Glover Manny Lebita Gus Weiss IV
Outline
Project Definition/Objectives Component Overview System Wide Integration/Testing Project Status Budget/Schedule Update Questions
Project Definition
To design a mobile robotic system that will traverse through a maze with arbitrary obstacles and transmit information to a PC that will graphically display the robots telemetry information and maze layout.
Project Objectives
Navigate/Collect information within maze Traverse a closed path within maze Transmit information using transceivers Process and display received data Exit maze
Rangefinders
IR Sensors
Transceiver
Drive Train
PC-Side Application
Altera Board
Controls the robot Interface to all modules Modules are connected through expansion header pins Built-in 7-segment LEDs, push-button switches, and DIP switches for testing Programmed using VHDL
Drive Train
Consists of 2 modified servos with wheels Drive Train control logic provides 8 directional settings and 4 speed settings Servos are driven using PWM signals Speed controlled by altering duty cycle
Front-mounted module with three digital lines Signal goes high when reflective material detected beneath the sensor Altera board uses IR sensors to decide movement when traversing loop
Odometer
Instrument needed to measure the distance traveled by robot Initially planned on implementing timers with servos, but servos were unreliable Decided on hardware odometer Servo consistency improved, and thus we returned to original plan
Electronic Compass
Provides orientation information Important in mapping and loop traversal VHDL control logic implemented Interfaces using SPI Communication difficulties Software contingency in development
Wireless Communications
Necessary for robot-topc communications Accomplished through 2 transceiver modules Data transferred at 19.2k bits/sec VHDL module controls send/receive logic Robot and PC send packets to each other Packet format revised
PC-To-Robot Packet:
Byte 0 Override Mode[1..0] Speed [1..0] Control [2..0]
System-Wide Integration
Top-level VHDL file that integrates communications, drive train, IR sensors, and ultrasonic rangefinder sensors Implemented as Finite-State-Machine with four states Idle Mode stops robot and waits for commands Remote-Guide Mode controls robot based on incoming packets Self-Guide Mode controls robot based on its own sensor readings Traversal Mode controls robot based on IR Sensors once robot is in closed-loop
PC-Side Application
Use Visual Basic 6 to display an approximate map of the maze based on data sent by the robot Record obstacles in memory in order to aid robot in decisions Provide direct human control of robot
Processing Packets
Packets include rangefinder, line tracker, and servo data Velocity and timer: determine distance traveled (odometer) Turn-rate and timer: determine heading changes (pseudo-compass) Rangefinder distances and basic trigonometry: obstacle placement
Maze Legend
0 = unexplored territory 1 = path traveled by robot 2 = tape 3-9 = reserved 10-255 = walls
255 represents highest accuracy 10 represents lowest accuracy Higher accuracies overwrite lower accuracies
Schedule Update
Drive Train Rangefinders IR Sensors Compass Communications Integration PC-Side App Documentation Presentation 0 10 20 30 40 50 60 70
Budget Update
Qty Description Unit Price $39.95 $38.50 $19.95 $74.26 $55.00 $94.95 $149.00 $14.95 Total: Total $119.85 $77.00 $19.95 $74.26 $55.00 $94.95 $149.00 $29.90 $619.91 3 Ultrasonic RangeFinders 2 Battery Chargers 1 Tracker Sensor 1 Wireless Transceiver Pair 1 Electronic Compass 1 Rover Kit with 2 servos 1 UP2 Development Board 2 NiCad Rechargeable Batteries
Real-World Application
Space/Nautical Exploration Plant Automation Military Weapons Home Appliances Automated Medical Equipment
Questions?