1. Nandini Vemuri (EE) Jason Jack (CE) Ryan Schmitt (CE) Jeff Howe (EE) John Corleto (CE) Emily Phillips (EE) Power Distribution Subsystem Wireless Communication Subsystem Graphical User Interface Processing Subsystem µC Serial Communication Bus Controller Motor Module H-Bridge DC Motor PID Controller Bus Controller DC Motor PWM Output Servo PWM Output Encoder Input Faculty Advisor: Dr. Wayne Walter Student Guide: Todd Fernandez Customer: Dr. Edward Hensel, RIT Mechanical Engineering The Robotic Platform family provides off-the- shelf motor modules and platforms for diverse applications. The purpose of the Robotic Platform for 1kg payloads (RP1) system is to provide a scalable, dynamic, mobile platform for sensor arrays and attachable input/output devices. Scalable to allow the design to be easily adapted for implementation with larger platforms. Future applications include use in freshman laboratory, research, and student projects. Allows for future changes to meet specific needs. Reuse as many parts from previous designs. Carry a payload of 1 kg. Cost to design and build at most $1000. Wired or wireless communication. Modular to allow for interchangeable parts. Scalable in size and payload capacity. It must be open source and open architecture. Battery life of at least one hour. Order of magnitude smaller than the Robotic Platform 10kg (RP10) variant in size. Provide a Graphic User Interface (GUI) for communication with the system. Project OverviewCustomer Needs The Graphical User Interface (GUI) allows the user a simple way to control the robot. The interface has two modes of operation: basic and advanced. The Interface is able to control specific motors and to move a specific speed or distance. It also allows the user to communicate with future sensors or devices that will be implemented. Wireless communication is accomplished by using a Bluetooth serial adapter. This allows the users to communicate to the system through the GUI. It has easily controllable baud rate and has a range of 100 meters. The Power Distribution system implements many elements to ensure both protection of the motor module and the system in general. A 12V regulator ensures that the voltage supplied to the modules remains constant. Fuses ensure that the power delivered is not exceeding the expected limits. Potential Future ImprovementsSpecial Thanks The team would like to thank the RIT Mechanical Engineering Department for their financial support of this project. The team would also like to thank Dr. Wayne Walter, Dr. Edward Hensel, Todd Fernandez, Ken Snyder, and Dr. Mark Hopkins for continued support and advice throughout the project. Thank you. For more information visit: http://edge.rit.edu/content/P09204/public/Home The Brian Dean (BD) Microcontroller development board uses the ATMega128 microcontroller in an open- source design. Assembly and board schematics are provided with the system. This subsystem interprets user commands and provides control to the other subsystems in the RP unit. It is the beating heart of the control system. Instead of using a mechanical relay, a MOSFET could be used which will likely have a longer switch life. Addressable wireless to allow many more RP1s in close contact. Smaller chassis which is fully developed to test full capacity. Redesign on motor driver to account for relay holes mismatch. Improved GUI to allow for more functionality and features Smaller battery to increase payload capability. The Arduino Nano is an open source microcontroller that functions as a PID controller. This allows the robot to gradually attain a desired speed without jerky start-stop motions. The PID controller directly controls all servos, PWM drivers for the DC motors, and monitors encoder feedback. It communicates with the Processing Subsystem using the I 2 C bus controller. The Motor Module was developed by the Mechanical Engineering Team P09203. They implemented the design to include a servo motor for turning, a DC motor for drive, and encoder feedback. It was designed under the specifications prescribed by the electrical system to meet the load requirements. Encoder Servo