1. Day 1 - Intro
WEP 1035

2. What is a Robot? Very broad term In General: Electro-mechancial system
Guided by computer code or electronic circuit
Control:
Autonomous control
Semi-autonomous control
Remote control

3. Robotic Systems Types of Robots
Industrial
Robots
Mobile
Robots
Humanoid
Robots
Autonomous
Cars

4. Workshop Objectives Basics of Robot Design and Development:
System Architecture Design
Mechanical Design - SolidWorks
Electronic Board (PCB) Design - Altium
Embedded Programing – mbed microcontroller
Mechanical Assembly
Electronics Assembly and Wiring
Testing, Debugging and Troubleshooting

5. Software Packages Altium Electronics Design Solidworks
Mechanical Design
Mbed Online Compiler
Embedded Programming
Docklight
Serial and IP data sniffing and debugging
Android Studio
Android Software Development

6. WEP Robot Design a two-wheeled robot Camera for video streaming
Inertial Measurement Unit (IMU) for angle measurement
Wheel encoders for distance measurement
Rechargeable Li-Poly battery
Onboard Wi-Fi router
Embedded microcontroller for control
Controlled wirelessly from an Android phone or tablet

7. Timeline Day 1 – Intro + Begin Design
Day 2 – Finalize Electronic and Mechanical Designs
Day 3 – Fabrication
Day 4 – Assembly
Day 5 – Testing
Science Fair - Competition

8. Martin Velazquez-Rizo
Team Members
Mechanical Designer
Electronics Designer
Embedded Programmer
Team 1
Bingjie Chen
Yang Liu
Usman Amin Fiaz
Muhammad Karimi
Muxingzi Li
Team 2
Aaron Sanchez Yanez
Ren Li
Martin Velazquez-Rizo
Yazeed AlHarbi
Jorge Rosas
Team 3
Ditho Pulungan
Ayman Karam
Hassan Almutawa
Yomna Al Ibrahim
Hind Alamro
Team 4
Mayadah Alhashem
Abdullah Alshehri
Carmen Barron
Sarah Alghamdi
Noureddine Toumi
Team 5
Mireille Hantouche
Khalil Moussi
Po-Chun Chen
Jean Lahoud
Nura Aljaafari
Team 6
Zhen Jian
Abdullah Almansouri
Shuai YANG
Furrukh Sana
Rana Al-Rabeh
Team 7
TKS

9. Workshop Goals Purpose:
Get a taste of working in an interdisciplinary robotics development team
Tasks:
Electrical: Design and fabricate the electronics board (PCB), wiring and soldering
Mechanical: Finish mechanical design, fabricate some of the parts, assemble
Programmer: Code the embedded microcontroller software
All: Test and troubleshoot
Goals:
Remote control the robot from Android
Prevent spinning in place
Bonus: use encoder for autonomous pre-defined motions

10. Competition – Science Fair
Stop 1m
Tuesday 1PM
Figure 8 Time Trial
Manual Control
Figure 8 Time Trial (Only Using Camera)
Autonomous Driving Accuracy
Drive a predetermined maneuver using encoders
Dimensions shown 1m 1m 2m
Start

11. Parts Available 2x DC motors Embedded microcontroller (mbed)
Rechargeable Li-Po battery
Wi-Fi router
IMU (3-axis accelerometer & 3-axis gyro)
Motor driver
Wi-Fi camera (D-Link)
Battery charger
Power supply
Mechanical components:
2x motor bracket
2x wheels
2x motor hubs
Screws

12. Motors Brushed DC Motors Brushless DC Motors Servo Motors Stepper
Cheap
Simple to use
2 wires
Med torque
Med speed
Med efficiency
Speed app.:
Wheels
Driver
Expensive
Complex to use
3,6 wires
High torque
High speed
High efficiency
Speed app.:
Quadrotors
Speed controller
Expensive
Simple to use
3 wires
Low torque
Low speed
Low efficiency
Position app.:
Pan & Tilt
Without driver
Expensive
Complex to use
5-10 wires
High torque
Med speed
Low efficiency
Position app.:
3D printers
Driver

13. Motor
DC Motors
70:1 metal gearbox
Quadrature Encoder
16 pulses per rev
64 counts per rev (16x4)

14. Electronics Board (PCB)
IMU
LED
MBED
Camera DC Conv
5V DC Conv
Motor Driver
Fuse

15. Embedded Microcontroller (mbed)
mbed NXP LPC1768
40-pin DIP, 0.1-inch pitch (breadboard)
Drag-and-drop programming
ARM Cortex-M3 CPU:
100 MHz, 64 KB of SRAM, 512 KB of Flash
Ethernet, USB OTG
SPI, I2C, UART, CAN
GPIO, PWM, ADC, DAC
Easy-to-use online tools:
Web-based C/C++ programming environment
API-driven development using libraries with intuitive interfaces
Comprehensive help and online community

16. Inertial Measurement Unit (IMU)
IMU (Sparkfun - SEN 10121)
ADXL345 accelerometer (3-axis accelerometer)
Measures accelerations in x, y, z (m/s^2)
ITG-3200 gyro (3 axis gyroscope)
Measures angular velocity in x, y, z (rads/s)
3.3V input
I2C interface (Refer to Altium Schematic)
Used on the robot for measuring the tilt (pitch)

17. Pololu Dual MC33926 Motor Driver Brushed DC motor driver
2 Full H-Bridges
5-28 V
3A (5A peak) per motor
PWM Pins:
Motor 1: M1D2
Motor 2: M2D2
Directions Pins
Motor 1: M1IN1, M1IN2
Motor 2: M2IN1, M2IN2

18. Neopixel LEDs
Tiny, bright RGB pixels
Daisy Chain Design
Only 8mm x 10mm
Need 1 pin/wire to control all the LEDs in the chain

19. System Architecture Diagram
IMU
Left Motor
mbed
Motor Driver
Right Motor
Android
Device
Router
LEDs
Camera 5V 5V
11.1V
DC-DC Converter
DC-DC Converter
Battery