Joshua Petrohilos Supervisor: Nasser Asgari

 Bachelor of Engineering (Robotics)/Master of Engineering (Electronics)  My role: Electrical Design

 Using MyRIO  Quick movement  Accurate movement  Object Detection  Stable arm movement  Strong block gripper  Voltage Regulation  Power/Cutoff Switches  Neat and easy to follow wiring

 Main Processor  Requires 12V  Provides several inputs and outputs  Uses LabView programming environment

 Polulu 12V DC Motor  Gear motor (43.7:1 ratio)  251 rpm  1.5 kg*cm torque  Powerful enough to move quickly  Comes with encoders for movement tracking

 Sabertooth dual 5A Motor Driver  Receives information from MyRIO  When tested, found to be reasonably accurate

 Adds feedback control to Sabertooths  Confusing to calibrate and tune  Found to be more useful for a motor running at a constant speed  Left unused

 ADNS-9800  Laser gaming mouse sensor  Difficult to work with  Ultimately redundant  Went unused

 Lidar: Light Detection and Ranging  Hokuyo URG-04LX-UG01  240 º viewing angle  Approximately 5.6m distance  º per scan  Can be powered by USB

 Metal Gear Servos  Strong Enough to stabilise and lift arm  Required 6V to operate correctly

 Regular plastic servos  Strength not as necessary as Arm servos  Used 6V out of simplicity  HS-311 and HS-422

 Only servos and lidar require less than 12V  MyRIO has voltage regulation (5V and 3.3V)  Servos did not work with MyRIO regulation  Used an adjustable step-down regulator

 One switch for power, one for motor cutoff  Push button for various functions

 Option A) Basic wiring  Option B) PCB + Basic Wiring  Option C) Veroboard + Basic Wiring

 Option C) Was chosen  Still unsure of parts required  Allowed easier changes  Still the same amount of wiring with PCB  Allows easy Voltage Regulation and grounding

 Battery tucked behind Lidar  Secure due to design  Starting point for voltage regulation

 Voltage Regulation needs to occur close to Battery  Pieces of Veroboard for voltage regulation and grounding  Mounted on Roof

 Battery power goes through power switch before going to fuse through output  After fuse, goes to MyRIO and Cutoff switch  Cutoff switch output then travels to Voltage Regulator

 Sabertooths are mounted at the back

 MyRIO mounted on top  Wires housed together where possible  Wires labelled for easy removal

 Mouse Sensor  Design and create PCB  Circuit improvements

 Bumpy floors  Lidar possibly too low  One course was incorrect size  Changes were made to the program during practice to account for these issues

 Missed out on Top 8  Happy with how the Robot performed  First place: UniSA

 Any questions?