ECE 477 Final Presentation Team 1  Spring 2013 Zelun Tie Xin Jin Ranmin Chen Hang Xie

Outline Project overview Block diagram Design challenges Individual contributions Project demonstration Questions / discussion

Project Overview The design project Wall-E Prototype I is an intelligent automated trash collecting robot with obstacle detection capability. The robot responses to either user’s direct manual control, or the object tracking software, to locate and collect the targeted trash object.

Project Motivation Motivated by the Wall-E pictured in the Disney Movie The solution to the environmental threat caused by the huge amount of waste disposed by human society The first version called Wall-E Prototype I

Block Diagram

Design Challenges Wireless camera low frame rate and high latency Mechanical accuracy Microcontroller UART peripheral programming Software compatibility between Lunix and Windows operating system Heat dissipation for the H-Bridge Xbee noise interference minimization Fitting all the elements into limited space

Individual Contributions Team Leader – Zelun Tie Team Member 2 – Hang Xie Team Member 3 – Ranmin Chen Team Member 4 – Xin Jin

Team Leader – Zelun Tie Software Contribution Full SimpleCV target tracking software and surrounding software development on both Raspberry Pi platform and Atom board platform Low level peripheral access software development on Raspberry Pi (GPIO, Wifi, etc with bash scripts) Hardware Contribution Primary PCB designer in charge of all PCB layout design System architect (helps to determine the overall system structure of the Wall-E Prototype I project) Hardware selection contribution on microcontroller, robot platform, server side hardware (Raspberry Pi vs. Atom), etc Others Documentation leader for team documentation related tasks Final video editor and director

Member 2 – Hang Xie Software contribution Microcontroller part 1. Control the speed and direction of robot 2. Control the robotic arm 3. Navigate around an obstacle logic Atom board part 1. Python program which could read data though serial port Hardware contribution 1. Chose the microcontroller 2. Chose the wireless model (xbee) 3. Determine the trace of the xbee on PCB

Member 3 – Ranmin Chen Software Contribution 1. Set up the Atom Motherboard (Intel D2700MUD Desktop Board) 2. Complete OpenCV program that can recognize red Ping-Pong balls in the screen and indicate the direction of robot. 3. Complete OpenCV program that can send out movement command from USB port to Xbee. Hardware Contribution 1. Complete the overall system schematic. 2. Complete the schematic for PCB. 3. Help designing and routing for PCB. Others 1. Complete the final reports and other documentations.

Member 4 – Xin Jin Hardware Contribution Package design and 3D effect graph creation Hardware selection contribution on robot base, mechanical arm, fuel gauge, step down regulator, and other surface mount components Electronic components prototyping All the soldering job Robot package and testing Software Contribution OpenCV set up for Win 7 system COM port set up for Win 7 system Other Team website setup and maintenance

Project Demonstration 1. An ability to recognize a Ping-Pong ball (38 mm / 1.58 inch diameter hollow sphere). 2. An ability to control the speed and direction of the robot. 3. An ability to pick up a Ping-Pong ball off the ground. 4. An ability to navigate around an obstacle when moving forward. 5. An ability to indicate the remaining battery charge via LED array

Questions / Discussion Questions