JEEVES the Robot Butler A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment JEEVES the Robot Butler Team JEEVES Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed Ebadi

Project Objectives Create a Robot System that: Carries Beverage From Vendor to User Detects Direction of Beacon Signal Dynamic Path Finding Based on Ultra-Sonic Sensors Detects When To Stop Able to Return to Base Station Bogdan Pisica

Project Purpose Possibilities for Nursing Homes or Hospitals. Base Station with multiple robots delivering meds, food, etc. to patients People with disabilities Convenience Bogdan Pisica

Achievable Goals Implementation of the Robotic Chassis Detection of Feedback on Robotic Motors Robot Is Able To Move From Point A to Point B Sonar Object Detection Beacon Initiates Robotic Movement Capable of Carrying a Beverage Bogdan Pisica

Medium Level Goals Robot Able to Detect Direction of Beacon Dynamic Object Avoidance Calibration of Wheels Based on Feedback Returns to Point A Bogdan Pisica

High Level Goals Beverage Dispenser That Contains Multiple Options Beacon Allows for Multiple Selections Multiple Users Bogdan Pisica

Details of Design

Details of Design Three Separate Pieces Robot, Base Station, Remote Majority of the Processing Power will be in the Robot Remote and Base Station both Transmit Daniel Steffy

Robot Design State Machine in Microcontroller Different Batteries for Motors, Sensors and Microcontroller Sensors: Beverage Presence Monitor (BPM) RFID Reader Directional Antennae Ultra-Sonic Sensors Daniel Steffy

State Machine Daniel Steffy

Remote Design User Interface Unique RF ID tag Communications with Base Station (XBee) RF Transmitter Beacon Logic Interfaces with Modules Daniel Steffy

Base Station Design Daniel Steffy

Motors Stepper Motor Reluctance Motor Precise High Power Density No calibration needed Reluctance Motor High Power Density Feed back system needed Magnetic Reluctance [resistance] Hameed Ebadi

Microprocessor MSP 430 F2616X Low Supply Voltage Range 1.8 V to 3.6 V 16-Bit RISC Architecture 64 I/O pins 12 A/D and 12 D/A Convertor Pins Hameed Ebadi

Antenna Wave Properties to worry about Transmission (use high frequencies to avoid) Refraction Reflection Absorption Diffraction Hameed Ebadi

Xbee Wireless Comm Signal Strength Detection Possible Design Ideas Multiple Xbee Rotation Chris Pearson

Ultrasonic Sensor PING (Ultrasonic Sensor) Precise, non-contact distance measurement from 2 cm to 3 m. 20 mA, 5 VDC Narrow Acceptance Angle Multiple Sensors Chris Pearson

Power Motorcycle battery for robot main power 9v for remote beacon Wall wart for base station Chris Pearson

Division of Labor Alissa Halvorson Task Alissa Bogdan Chris Danny   Task Alissa Bogdan Chris Danny Hameed Electrical Controls Sensors X Comm PCB Power Software Path Finding State Machine Device Interfacing Debugging Mechanical motors wheels antenna chassis System Integration Testing Documentation Alissa Halvorson

Schedule Alissa Halvorson

Budget Part Description Price ($) Comm System Xbee Series 1 75 Micro-Controller System MSP430 150 Antenna 20 Motor System 200 Batteries/Power Motorcycle/9v/Wall 100 Sonic Sensors PING))) 120 RFID System PCB 105 Mechanical Wheels/Chassis Printing Expo Docs Misc TOTAL 1370 Alissa Halvorson

Funding UROP Team Members Donations Scavenging Alissa Halvorson

Risks and Contingency Plans Ultra-sonic sensors don't work or too much interference Run out of time or money Reduce features/capability Use bump sensors Failure to detect beacon signal direction Mechanical issues Enlist mechanical major's help Use IR "line of sight" sensors Alissa Halvorson

Questions?