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JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed Ebadi A Beacon-Sensing, Path Finding Robot.

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Presentation on theme: "JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed Ebadi A Beacon-Sensing, Path Finding Robot."— Presentation transcript:

1 JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed Ebadi A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment

2 Project Objectives Create a Robot System that: ▫Carries Beverage From Vendor to User ▫Detects Direction of Beacon Signal ▫Dynamic Path Finding Based on Ultra-Sonic Sensors ▫Detects When To Stop ▫Able to Return to Base Station Bogdan Pisica

3 Project Purpose Possibilities for Nursing Homes or Hospitals. ▫Base Station with multiple robots delivering meds, food, etc. to patients People with disabilities Convenience Bogdan Pisica

4 Achievable Goals Implementation of the Robotic Chassis Detection of Feedback on Robotic Motors Robot Is Able To Move From Point A to Point B Sonar Object Detection Beacon Initiates Robotic Movement Capable of Carrying a Beverage Bogdan Pisica

5 Medium Level Goals Robot Able to Detect Direction of Beacon Dynamic Object Avoidance Calibration of Wheels Based on Feedback Returns to Point A Bogdan Pisica

6 High Level Goals Beverage Dispenser That Contains Multiple Options Beacon Allows for Multiple Selections Multiple Users Bogdan Pisica

7 Details of Design

8 Three Separate Pieces Robot, Base Station, Remote Majority of the Processing Power will be in the Robot Remote and Base Station both Transmit Daniel Steffy

9 Robot Design State Machine in Microcontroller Different Batteries for Motors, Sensors and Microcontroller Sensors: Beverage Presence Monitor (BPM) RFID Reader Directional Antennae Ultra-Sonic Sensors Daniel Steffy

10 State Machine Daniel Steffy

11 Remote Design User Interface Unique RF ID tag Communications with Base Station (XBee) RF Transmitter Beacon Logic Interfaces with Modules Daniel Steffy

12 Base Station Design Daniel Steffy

13 Motors Reluctance Motor  High Power Density  Feed back system needed  Magnetic Reluctance [resistance] Stepper Motor  Precise  No calibration needed Hameed Ebadi

14 Microprocessor MSP 430 F2616X Low Supply Voltage Range 1.8 V to 3.6 V 16-Bit RISC Architecture 64 I/O pins 12 A/D and 12 D/A Convertor Pins Hameed Ebadi

15 Antenna Wave Properties to worry about Transmission (use high frequencies to avoid) Refraction Reflection Absorption Diffraction Hameed Ebadi

16 Xbee Wireless Comm  Signal Strength Detection  Possible Design Ideas Multiple Xbee Rotation Chris Pearson

17 Ultrasonic Sensor PING (Ultrasonic Sensor) Precise, non-contact distance measurement from 2 cm to 3 m. 20 mA, 5 VDC Narrow Acceptance Angle Multiple Sensors Chris Pearson

18 Power Motorcycle battery for robot main power 9v for remote beacon Wall wart for base station Chris Pearson

19 Division of Labor Alissa Halvorson

20 Schedule Alissa Halvorson

21 Budget Alissa Halvorson

22 Funding UROP Team Members Donations Scavenging Alissa Halvorson

23 Risks and Contingency Plans Ultra-sonic sensors don't work or too much interference ▫Use bump sensors Failure to detect beacon signal direction ▫Use IR "line of sight" sensors Run out of time or money ▫Reduce features/capability Mechanical issues ▫Enlist mechanical major's help Alissa Halvorson

24 Questions?


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