Southeastern Conference 2014 Final Presentation

The Team Alex Holeczy Computer Engineering - Navigation - Debugging Thomas McCollum Electrical Engineering - Gun Design - Platform Assembly Khanh Nguyen Computer Engineering - Light Detection - Website Rebecca Rougeau Electrical Engineering - Distance - Hardware Logan Shannon Electrical Engineering - Gun Design - Targeting Katie Williams Electrical Engineering - PCB Design - Research Dr. Robert Reese Advisor

Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

Competition Overview- The Course 1. Starting Zone 2. Shooting position 3. Target 4. End Zone Tasks: -Light/Object Detection -Accurate Aiming -Gun Firing -Autonomous [1]

Competition Overview- Format Qualifying Rounds o Robot must move minimum of 1’ o Pressure must be gauged and approved Competition Round o Three 2 minute heats o Heats’ scores are summed together o Top 8 teams advance Final Round o One 2 minute heat under normal judging conditions o Tiebreaker round in the case of tie

Competition Overview- Scoring 25 points - Robot leaves starting position 50 points - First correct stop at firing block 300 points/block - Dart clears target 25 points -Robot stops in end zone 1 point/second - Completion under time limit

Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

System Design

Robot mAh Battery 2. Breadboard 3. Linear Actuators 4. Servo-controlled Gun Platform 5. Line Follower/Ultrasonic Sensor Mount 6. Motors/RGB Sensor (underneath)

Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

Practical Constraints- Sustainability ●Battery life far exceeds competition time limit ■ 300 mA for PIC24H ■ 675 mA for Raspberry Pi Model B with Camera ■ 500 mA/each for servos and linear actuators ■ 30 mA for SRF04 Ultrasonic Sensor ■ 100 mA for line follower ■ 3A for motors ○ Battery rating is 4400 mAh ○ Therefore, battery life is approximately 40 minutes Rechargeable battery to reduce cost

Practical Constraints- Sustainability Durable Plastic used for guns ■Lightweight (0.64 pounds before modification) ■Requires strong force to break ■Repeatable ● Accurate after 200+ shots ● Maximum range approximately same after 200+ shots ● Plexiglass Platform ■0.25” thick ■Pivot pressure reduced by aluminum sheet metal ■Supported by 0.25” all-thread beams ● Digital titanium-gear servos

Practical Constraints- Manufacturability Modular Design o Base o Gun Platform

Practical Constraints- Manufacturability PCB design o Breakout board

Practical Constraints- Manufacturability Open layout for easy part modification or replacement

Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

Technical Constraints NameDescription NavigationThe robot must navigate the course autonomously. Light and Location Detection The robot must recognize green start LEDs, shooting blocks, and the finish zone. Aiming/Dart FiringThe robot must accurately fire 3 darts through a hoop. SpeedThe robot must complete the course in < 60 seconds to earn bonus points. SizeThe robot must not exceed 1’x1’x2’ at any point in the competition.

Autonomous Navigation QTR-8RC reflectance array sensor o 8 sensor pairs o Sense reflected light o PID control algorithm [2]

Navigation Line follower placement on robot Displacement on line [2]

Navigation

Navigation- Intersections and Turning All or most sensors show line found Continues forward for a short time before turning left Turn from rightmost sensor detecting line to leftmost sensor detecting line [2]

Location Detection Line Follower o Blue firing blocks and red end zone seen as white line o Detection same as intersection detection 3 second pause 180 degree turn

Light Detection Adafruit TCS34725 RGB Sensor o Color light-to-digital converter

Light Detection

RGB sensor mount setup

Aiming- Distance Sensing Devantech SRF04

Aiming- Distance Sensing

Aiming - Dead Reckoning

Aiming- Center Line

Aiming 2 metal gear servos

Dart Firing Nerf N-Strike Elite Firestrike guns Linear Actuators 3 Firgelli Linear Actuators Metal Gear Servos

Speed ●2 minute time limit ○ 6.55 cm/s ●Goal: <1 minute ●With gun platform, course completion approximately 38 seconds with motors running at 55%

Size Robot must fit within a 1’x1’x2’ volume Height = 15.75” Width = 9” Length = 10.75”

Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

System Testing Integration of Navigation and Gun systems Verify that robot can: o Navigate autonomously o Detect variable firing position o Aim o Fire dart

Completed Prototype

Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

Timeline AugustSeptemberOctoberNovemberDecember Course Construction and Strategy Research and Purchasing Programming Debugging Prototype

Outline ●Competition Overview ●System Overview ●Practical Design Constraints ●Technical Design Constraints ●System Testing ●Timeline ●Future Goals

Future Goals Print and Populate PCB

Future Goals Incorporate Camera/Image Processing onto Prototype for Aiming Calibration Finalize Rainy Day Case Solutions Optimize Design [3]

References [1]IEEE Southeastcon 2014 Student Hardware Competition Rules. [2] “Line Tracking Sensors and Algorithms.” IKA Logic [online]. Nov. 19, [3] “Raspberry Pi Camera Board.” Adafruit Industries [online]. Available: Nov. 17,

Southeastern Conference 2014 Final Presentation