IMDL Robot Presentation EEL5666 Robert Hartwell 31 Jan 2012

Summary 1: Scope – Take a wireless drink order, navigate to drink station and correctly mix the drink 2: Gain from the solution to the problem – Mixed drinks and inebriation 3: Approach to the problem – 4 wheeled mobile platform with servo actuation, drink mixing station 4: What has been done – Design of the mobile platform. Design of drink station. Ordering of sensors, chassis, servos, motors, materials for “arena”, materials for drink station, misc building supplies (wood, hinges, wiring, break out boards, etc). 5: Results to date – Uploaded and executed blinking LED code to microcontroller, most planning completed 6: Future plans – After BoA sends me a new debit card (because some Eurotrash stole my number and bought a lot of clothes in Italy and France), order the Xbee modules. Construction, sensor testing, coding.

Introduction Completed work – Chassis design – Mixing station design and dispensing method design – Actuation of individual containers design – Sensor and servo placement on chassis design Scope of sensor and movement control – Wireless communications – Color Detection – Bump Sensors – IR Detection – Motors and Servos

Module Interaction -Wireless- Order Navigation to station Object Detection Line Detection Color Detection Bump Sensors Mix Drink Retrieval? -TBD-

Sensors and Servos #Motion ProducerApplication 1DC MotorsControl overall robot movement 2Pan/Tilt ServosControls actuation of drink station levers 3ServosMisc Movement #PhenomenaSensorBehavior 1ProximityIR ProximityCollision avoidance 2ContactBump -SwitchesObject detection/course correction. 3LightColor-SensorWaypoint/position indication 4Light-ReturnIR-arrayLine following 5RF/CommunicationXbeeReceive instructions/transmit information #FeatureRobot Interaction 1Colored SquareAllows identification of location in the arena for drink sequence 2Black LineFollows the line 3Drink StationActivates the proper lever to dispense liquid 4ObstaclesShows object avoidance Robot Arena Robot Actuation Robot Sensors

Conclusions – Robot in a nutshell Take an order wirelessly Navigate to drink station Activate the correct mixtures and amounts of order Retrieval, if any, TBD

Future Work Construction of robot chassis Mounting motors, servos, sensors, microcontroller Coding the microcontroller – Line following, object avoidance, wireless comm, mixing sequence, color detection Testing sensor ranges and tweaking code Creation of Robot arena – Drink station, line course, obstacles Overall operations

Module Interaction -Wireless- Order Navigation Object Avoidance Line Detection Color Detection Bump Sensors Mix Drink Retrieval? -TBD- Docking IR Array XBEE IR Ranger Color Sensor Undocking