1. Autonomous Mobile Plotter Team Members: Kim Schuttenberg & Alicia Tyrell Project Design Review #2

2. Project Objectives  Accurately move and plot specific shapes on a flat surface, specified by a path.  Position Error & Orientation Correction Where if displaced the plotter will move to its correct position and orientation up to 1 meter.

3. Software Specifications  Graphical User Interface Allows the user to enter a path for the vehicle to follow.  Forward xx, Right yy, Left yy. Allows the user to draw shapes.  Squares, Triangles, Polygons, Lines, Rectangle

4. Software Specification Cont’d  The user can place as many shapes as desired onto the drawing canvas with the following exceptions:  1. The size of the shapes to be drawn cannot exceed the 1m by 1m operational area.  2. All shapes must intersect.[1][1]  [1] Each shape has fixed number of points in which it may intersect with another shape. [1]  3. Recipe instructions generated cannot exceed 4K

5. Software Description  Path Determined Nearest Neighbor Method Analysis

6. Software Description Cont’d  Recipe Generation Recipe CommandsOpCodeDescription Straight0xxxxxxxMoves the plotter up to 127 steps forward Right110xxxxx Turns the plotter up to 31 steps or 62  right Left111xxxxx Turns the plotter up to 31 steps or 62  left Repeat101xxxxxRepeat the next instruction 8x +1 (up to 249 times) Correct[1][1]10000000The plotter will check its position for errors. Relative to the beacons. Stop10000100The plotter will stop. NOP00000000The plotter will do nothing. [1][1] See section on Auto-Correct Instruction

7. Software Description Cont’d Plain TextAssembly Error Correct (135,45,45)DC.B Correct DC.W 150 DC.B 100 Forward 20cmDC.BFORWARD+53 RIGHT 90DC.B RIGHT+31 DC.BRIGHT+14 Forward 20cmDC.BFORWARD+53 RIGHT 90DC.B RIGHT+31 DC.BRIGHT+14 Forward 20cmDC.BFORWARD+53 RIGHT 90DC.B RIGHT+31 DC.BRIGHT+14 Forward 20cmDC.BFORWARD+53 End of recipeDC.BSTOP

8. Hardware Specification  Operational Area 1m x 1m Flat Surface  Movement Resolution 3.67 mm line segment per step 1.92° per step  Sensors Range: 2 m 38 kHz @ 950 nm ± 50 nm  Emitters Modulated to match sensors  Error Correction Accuracy Within Operational Area  5 cm  5 degree

9. Hardware Description  Device Size 12” x 6” x 9” ( Not including protruding wheels )  Microprocessor 68HC12A4 8 MHz EEPROM  Internal: 4K  External: 32K Static RAM  Internal: 1K  External: 512K

10. Hardware Description Cont’d  Stepper Motors Drive Motors Unipolar Airpax 7.5°/step Sensor Motor BiPolar:Astrosyn 0.9°/step

11. Work Division  Kim Schuttenberg Software Low-Level Circuit Assembly Driver Circuit Board Signal Processing Board Emitter Circuit Board Vehicle Construction  Alicia Tyrell Software High-Level Circuit Assembly Modulation Circuit Board Sensor Circuit Board Vehicle Construction

12. Work Completed Hardware Device Fully Assembled

13. IR Emitter Design Equation:

14. Signal Processing

16. Demodulation Circuit

17. Work Completed/ In Progress Motion Control 100% Written 90% Tested Size: 268 Recipe Execution 100% Written 95% Tested Size: 107 Math Algorithm 100% Written 90% Tested Size: 499 Measurement 100% Written 40% Tested Size: 313 Correction 100% Written 0% Tested Size: 253 SoftwareLow-Level

18. Work Completed/ In Progress SoftwareHigh-Level Main Interface Written: 100% Tested: 96% 496 Lines of Code Shape Generation Written: 100 % Tested: 95% 450 Lines of Code Path Generation Written: 100 % Tested: 85% 305 Lines of Code Recipe Generation Written: 86 % Tested: 40 % 200 Lines of Code Java Serial Communication Written: 89 % Tested: 80 % 100 Lines of Code

19. Power Consumption  Battery Source 4.8 Volts @ 1800 mAh Logic: 3 hours Total Measured: 400 mA Power 1.92 Watts 6.0 Volts @ 3200 mAh Motor ½ hour – 1 hour Total Calculated: 3 A Power 18 Watts

21. Test Plan  Error Correction: Choose Several points/orientations to test from. Have correct to known point, measure error at end.  Recipe Execution: More of a calibration than a test Straight: Drive a distance, turn, drive a larger distance. Measure distances to find the calibration constant for the strait command Turning:Drive Straight, turn a large number of times, then drive straight again. The resulting angle can be used to find the rotation calibration constant. Repeat: Use the straight and turn commands to test.

22. Potential Problems  Movement Stepper Motor

23. Questions ?