IEEE South East Conference 2016 MID-SEMESTER PRESENTATION

The Team John Rogers Team Lead Computer Engineering Conrad Stockstill Electrical Engineering Will Gray Computer Engineering Jackson Cornelius Electrical Engineering Kenny Bertucci Electrical Engineering Brad Killen Electrical Engineering

Work Distribution John Rogers – Color Sensing, Navigation, Algorithm Development Conrad Stockstill – 3D Modeling, Fabrication, Software Integration Will Gray – Computer Vision, Servo Control Jackson Cornelius – Motor Control, Software Integration Kenny Bertucci – Protoboard Design, Board Construction, Fabrication Brad Killen – Motor Control, Research, Documentation

Dr. Bryan A. Jones Education: ◦Ph.D., Clemson University, 2005 ◦M.S., Rice University, 2002 ◦B.S.E.E., Rice University, 1995 Research/Fields of Interest: ◦Robotics ◦Real-time control system implementation ◦Rapid prototyping for real-time systems ◦Modeling and analysis of mechatronic systems

Outline Competition Overview System Overview Design Constraints ◦Practical Constraints ◦Technical Constraints System Testing ◦Navigation ◦Block-Handling ◦Full System Timeline Questions

Competition Overview

System Overview

Design Constraints

Practical Constraints ◦Health and Safety ◦Sustainability

Health and Safety ◦Flammable, pressurized, hazardous gases or liquids are prohibited ◦No projectiles of any kind are allowed

Sustainability ◦Will be constructed in two separate platforms ◦Top platform will identify and collect blocks ◦Navigation platform will provide transportation ◦Will be designed such that future teams can reuse the navigation platform

Technical Constraints NameDescription Size The robot must initially fit in a 12” x 12” x 12” area and cannot extend more than 8” in any direction. Navigation Must be able to complete the course objectives without any human interaction. Color SensingMust distinguish between four different colors. Omnidirectional MovementWill be able to move in any direction. Load Capacity Will be able to store and transport 8 large blocks simultaneously.

Size ◦The robot must fit into a 12" x 12" x 12" volume at the start ◦After exiting the start tunnel, the robot may expand up to 8" in any direction, to a maximum of 20" x 20" x 20"

Navigation – Bump Switch ◦Positioned on front of navigation platform ◦Used to find walls in order to identify location on board ◦Robot uses dead-reckoning for distance traveled

Navigation – Camera ◦Raspberry Pi 2 B+ with Raspberry Pi Camera Module rev. 1.3 ◦While moving laterally, it locates and centers on group of 8 blocks using QR codes on the front of the blocks ◦Scans QR codes on front of railcars

Color Sensing ◦An array of eight TCS34725 RGB Sensors ◦Detects the blocks inside the block-handling platform ◦Treats all blocks as half- blocks

Color Sensing ◦Each color sensor was tested for eight inputs: Each of the 4 colors at both distances from the sensor. Color and Position Correct Readings Red Lower8 Red Upper8 Blue Lower8 Blue Upper8 Yellow Lower6 Yellow Upper5 Green Lower8 Green Upper7 Total Percentage90.625

Omnidirectional Movement ◦The Mecanum wheels allow movement in any direction, including laterally ◦During testing, timing had to be done for rotations ◦Robot can navigate over bumps in any direction ◦Allows easier navigation around obstacles in front of railcars

Load Capacity

Rack-and-Pinion System

Rake System

Platform Lift

System Testing - Navigation

System Testing – Block-Handling

Timeline AugustSeptemberOctoberNovember Research and Purchasing Programming and Planning Course Construction Improving Design Working Prototype

References [1] IEEE SoutheastCon 2016 Hardware Competition Rules. [2] Raspberry Pi 2. with-quad-core-cpu-1gb-ram-same-35-price/ with-quad-core-cpu-1gb-ram-same-35-price/ [3] Arduino UNO. [4] PIC24/PIC33. [5] Mecanum Wheel Set. [6] Hazard Symbols.

Questions?