1. Team 23: 2013 IEEE ROBOT COMPETITION

2. Introduction Team 23 – IEEE Region 5 Robot Competition F12-23-EEE1 Client: Ning Weng Team Members: Claudio Copello (ECE) Steven Lyle (EE) Klint Youngmeyer (CpE) Michael Hepburn (EE) Dhruti Joshi (CpE) Faculty Adviser: Nazeih Botros

3. Outline (KY) Introduction – Klint Youngmeyer Executive Summary – Klint Youngmeyer Executive Summary Cont. – Claudio Copello Project Description – Dhruti Joshi Functional Description Drive /Power– Dhruti Joshi Microcontroller – Steven Lyle Sensors – Steven Lyle Collection – Michael Hepburn Summary – Michael Hepburn Acknowledgements – Michael Hepburn

4. Executive Summary(KY) Forest Restoration, Human Intervention Robot must navigate simulated forest with obstacles Collect 6 soil samples in specified locations Autonomous Robot Rugged design Vertical collection Keeps Humans Safer Samples needed quickly

5. Executive Summary (CC) What were the expectations? What was the outcome? Were the expectations met in terms of performance, constraints (time, money, size, etc.)? In order to accomplish the project, the expectations were being able to build an autonomous robot to navigate through the course and collect soil samples. The robot was able to navigate through the course and have a working collection system as well In terms of constraints from time and money, the expectations were met.

6. Project Description Five subsystems Power Drive Microcontrollers Sensors Collection System SD card reads coordinates Start button begins course of robot Robot determines path from code Robot detects obstacles/dowel rods and avoids/runs over them Robot detects disc, collects Robot ends at start of course

7. Power (DJ) Main Purpose Provide power to microcontroller, servo, motors and sensors Options NiCd, NiMH Justification Very reliable in respect to voltage capacities less energy waste compare to other conventional rechargeable batteries Performance The Eneloop batteries were recharged only two or three time during the design of the robot

8. Drive System (DJ) Main Purpose Navigate through the course Options Soft Plastic Tracks, Wheels, Hard plastic w/ Rubber Tracks Justification Better traction and easier to navigate Performance Successfully drive over the dowel rods Navigate successfully through the course

9. Microcontroller Main Purpose Control Robot Options 2 Arduino Uno Arduino Mega 2560 External Motor Controller Justification Programming the Mega was easier than programming 2 Uno More available Interrupts Motor Controller Stacks on top of arduino Performance Successful navigation & sensor readings

10. Sensors Main Purpose To get navigation feedback Options Infrared Object Detection Reflectivity Wheel Encoding Magnetometer Justification Object Detectors precise locating of the disc Wheel encoding enabled feedback controlled drive maneuvers Magnetometer allowed us to verify the robot’s orientation (error correction) Performance Successful navigation & sensor readings Magnetometer did not work in the power lab

11. Wheel Encoders

12. Disc Detection Array

13. Collection (MH) Main Purpose Vertical collection of disk with Probe Options Mechanical VS Magnetic Storage of disk Justification Mechanical Storage of disk in probe Performance Linear actuator Trails

14. Summary (MH) Project Overview What does the robot do? Benefits compared to others Project Outcome Implementation Cost: $875 Implementation Time: ~80 hours

15. Acknowledgements (MH) Dr. N. M. Botros (technical advisement) Dr. F. Harackiewicz (design options and ideas) Dr. A. Weston (design options and ideas) Mrs. K. Purcell (design as well as technical writing mentoring) Dr. V Singh-Gupta (technical writing mentoring) Eric Grosshenrich (For donating shop time, equipment, and advice)

16. Questions? Feel free to ask any questions about the project.