1. Mark Randall & Kevin Claycomb Faculty Advisor: David Mitchell Industrial Sponsor: IEEE

2. Introduction 2006 IEEE SouthEastCon Hardware Contest. 2006 IEEE SouthEastCon Hardware Contest. All schools located in the Southeast IEEE Region All schools located in the Southeast IEEE Region Robot must sort and deliver packages to different locations under a time constraint Robot must sort and deliver packages to different locations under a time constraint

3. Follow the line Follow the line Picking up a package Picking up a package Take it to a plane Take it to a plane Drop the package off Drop the package off Problem Definition Build a mobile robot Build a mobile robot Robot must perform the tasks necessary to compete in the contest Robot must perform the tasks necessary to compete in the contest

4. Constraints of the Project Due to Contest Rules Time Constraint Time Constraint 1 st Plane Leaves after 3 min. 1 st Plane Leaves after 3 min. 2 nd Plane leaves after 4 min. 2 nd Plane leaves after 4 min. 3 rd Plane leaves after 5 min. 3 rd Plane leaves after 5 min. The robot must deliver all 12 packages in five min. The robot must deliver all 12 packages in five min. Size Constraint Size Constraint The robot must fit into an 8”x8”x12” box at the beginning and end of each round. The robot must fit into an 8”x8”x12” box at the beginning and end of each round. The robot may expand to a maximum size of 14”x14”x20” while completing the task. The robot may expand to a maximum size of 14”x14”x20” while completing the task. Robot must be completely autonomous Robot must be completely autonomous

5. Objectives Line following hardware Line following hardware Drive motor control hardware Drive motor control hardware Line following/motor control software Line following/motor control software Barcode reader hardware Barcode reader hardware Barcode reader interface software Barcode reader interface software Gripper hardware Gripper hardware Gripper control software Gripper control software State machine software implementation State machine software implementation

6. Mechanical Polycarbonate base Polycarbonate base Construct for maximum possible size limits (8 X 8) Construct for maximum possible size limits (8 X 8) Two polycarbonate motor mounts for differential drive. Two polycarbonate motor mounts for differential drive. 2 wheels with rear track ball 2 wheels with rear track ball

7. Computer Platform 8051 based microcontroller design 8051 based microcontroller design Two 8 channel A/D converters for sensor input Two 8 channel A/D converters for sensor input Two motor control outputs Two motor control outputs Two inputs for feedback capture Two inputs for feedback capture

8. The Brains Atmel 89C51ED2 @ 40MHz Atmel 89C51ED2 @ 40MHz 68 pin package 68 pin package 6 I/O ports 6 I/O ports 64K Flash 64K Flash 1 UART for serial communication 1 UART for serial communication 5 PWM modules 5 PWM modules 16 bit address bus 16 bit address bus 3 16 bit up counters 3 16 bit up counters

9. Mobility Two Maxon A-max motors Two Maxon A-max motors 6630 RPM (no load) 6630 RPM (no load) 15.1 mNm (stall torque) 15.1 mNm (stall torque) Spurhead gear box Spurhead gear box 1/32 gear ratio 1/32 gear ratio shaft speed 207 RPM shaft speed 207 RPM Output torque 483 mNm Output torque 483 mNm Optical encoders Optical encoders Quadrature output Quadrature output 100 pulses/rev 100 pulses/rev

10. Motor Drive Circuitry Two Texas Instruments 3 amp full Two Texas Instruments 3 amp full H-bridge ICs H-bridge ICs TPIC108B TPIC108B Driven with pulse width modulation Driven with pulse width modulation Complete power system isolation Complete power system isolation

11. SENSORS Line detection Line detection Bar code scanning Bar code scanning Ranging Ranging

12. Line Detection 8 channel A/D converter 8 channel A/D converter 8 NPN photodetector / IR emitter pairs 8 NPN photodetector / IR emitter pairs Daylight filter Daylight filter 3”

13. Barcode Scanners RS-232 interface RS-232 interface ASCII output ASCII output POS-X1000 not adequate POS-X1000 not adequate IEEE recommended IEEE recommended IDTECH scanner found to be a better choice IDTECH scanner found to be a better choice

14. IR Ranging Sensors IR detector / emitter pairs IR detector / emitter pairs Sharp GP2D variant Sharp GP2D variant Two models Two models Long Range (4”-30”) Long Range (4”-30”) Short Range (1.5” – 12”) Short Range (1.5” – 12”) Used for distance ranging and squaring the robot Used for distance ranging and squaring the robot

15. Handling Mechanism (Gripper) Constructed to handle the blocks Constructed to handle the blocks Servo driven Servo driven Two axis of control Two axis of control

16. Software Developed with Keil PK51 IDE Developed with Keil PK51 IDE State and feedback based autonomy State and feedback based autonomy Low level functions entirely interrupt driven Low level functions entirely interrupt driven Modular design approach Modular design approach Built in debug subsystem Built in debug subsystem

17. Autonomy Overview Location oriented decision making Location oriented decision making I’m here, what’s next? I’m here, what’s next? Static routes preprogrammed Static routes preprogrammed Feedback oriented design allows for static routes to be somewhat dynamic Feedback oriented design allows for static routes to be somewhat dynamic

18. Control Subsystem Interrupt driven PD speed control Interrupt driven PD speed control 10ms control loop execution 10ms control loop execution Line and Sharp sensor integration Line and Sharp sensor integration Proportional control Proportional control

19. Data Acquisition Two A/D converters Two A/D converters Line Following Board Line Following Board On Board Auxiliary D/A On Board Auxiliary D/A Line Board sampling at approx 100us Line Board sampling at approx 100us Aux D/A sampling at approx 30ms Aux D/A sampling at approx 30ms 3 Sharp IR analog sensors 3 Sharp IR analog sensors

20. Results WE WON!

21. Questions?