1. Created by: James Buttice Intelligent Machine Design Laboratory Dr. Arroyo Dr. Schwartz 4/8 Spring 2010 B.L.a.R.R.

2. Outline Introduction Behaviors/Tasks Components Sensors Questions and Comments 2

3. Behaviors Main behavior Locate and secure “bomb” like objects Transport and drop them into the “tube” Other behaviors Collision avoidance 3 BombTube

4. Main Behavior 4 Goal

5. Components 5 Platform cut from T-tech machine PVR Xmega128 board 2 x NiMH Energizer battery packs Toshiba TB6612FNG motor driver (Lab)

6. Components 6 LCD Screen Power Switch and LED Buzzers Bump Alert LEDs Mechanical Arm

7. More Components 7 Lighting LED Power Switch Sensor Bumper 7.2V NiMH Rechargeable Battery Pack PVR Board Front Wheels

8. Movement 8 2 Merkle-Korff Gear Reduction Motors 120RPM at 6Vdc 3.5” Model airplane wheels 1 Ball wheel in rear

9. OWI Robotic Arm Edge Kit 9 3.5oz lifting capacity 4 gear motors 3 joints 1 gripper 3 revolute joints 3 degrees of freedom

10. Sensors Bump Sensors (Tact Switches) Infrared Proximity Sensors CMUcam1 10

11. Bump Sensors 11 Used for collision detection B.L.a.R.R. uses 4 2 independent circuits on each side bumper

12. Bump Sensors 12 Pull down resistor High when switch is pressed 5

13. Sharp Infrared Sensor 13 Model GP2D12 Analog Short Range (4 inches to 80 inches) B.L.a.R.R. uses 3 Port ADC A/5V Located on front sensor bumper Used for collision avoidance and object detection

14. Sharp IR Sensor Data 14 Signal decreases as range increases Signal Range (cm) Response of GP2D12

15. CMUcam1 15 Serial Port 17 Frames per second Tracks blobs using measured RGB statistics Green tube Red bombs

16. CMUcam1 - Bomb 16 RGB Values Used: Red (min max): 120, 180 Green (min max): 30, 50 Blue (min max):50, 60 Bomb

17. CMUcam1 - Tube 17 RGB Values Used: Red (min max):40 60 Green (min max):180 240 Blue (min max):90 100

18. Lighting aid for CMUcam1 18 6 Super bright white LEDs +1 on end effecter Can be turned on/off IlluminatedOriginal

19. Future Considerations 19 Better durability Design for easier handling Hide wires better Possibly less wires

20. Website 20 http://plaza.ufl.edu/jbuttice/Index.htm

21. End 21 Questions or Comments?