JULLIENOR TITAS DAS EEL 5666 – IMDL FALL /2/2014

AGENDA Mission Robot Overview Mobile platform Hardware Software Behaviors Timeline

MISSION Jullienor is meant to save your time in the kitchen when it comes to cutting vegetables or fruits for various dishes. It will also be able to prevent hazards from occurring in the kitchen as people don’t have to deal with knives anymore.

ROBOT OVERVIEW It has a two wheel drive with a castor wheel at the back. A castor in the front for balancing the robot. A cutting system which lowers itself over a vegetable and cuts it. Uses the nexus 5’s inbuilt 8 megapixel camera as its source of vision. Exhibits obstacle avoidance and is a table top robot.

MOBILE PLATFORM

HARDWARE Arduino Mega 2560 Motor Driver Shield (Arduino Motor Shield or Dual MC 33926) Ni-Mh 9.6V (LiPo 11.1V) Nexus 5 Wheel 1 Wheel 2 IR Sonar Motor Driver Single carrier MC Cutting Mechanism Audio-Serial Interface Board

INTEGRATED CIRCUIT The audio-serial interface board was soldered based on the schematic shown below.

SOFTWARE Arduino IDE Eclipse JunoAndroid SDK & ADKOpenCV

BEHAVIORS It will have obstacle avoidance based on sonar input. The obstacle has to be outside the pink board used for cutting vegetables. Object recognition based on background subtraction and color detection. Where the vegetables are kept on a pink cutting board. X and Y co-ordinates sent to Arduino. Will be able to cut the vegetables using it’s unique cutting system. Motor’s encoders are used to make sure it doesn’t cut the board. Will also have an “end of the world” sensor system to prevent the robot from falling off the table using IR sensors.

LESSONS LEARNT Android programming Opencv integration Solidworks design

QUESTIONS