1. JEEVES the Robot Butler
A Beacon-Sensing, Path Finding Robot Operating in a Crowded Environment
JEEVES the Robot Butler
Team JEEVES
Daniel Steffy, Alissa Halvorson, Bogdan Pisica, Christopher Pearson, Hameed Ebadi

2. Project Objectives Create a Robot System that:
Carries Beverage From Vendor to User
Detects Direction of Beacon Signal
Dynamic Path Finding Based on Ultra-Sonic Sensors
Detects When To Stop
Able to Return to Base Station
Bogdan Pisica

3. Project Purpose Possibilities for Nursing Homes or Hospitals.
Base Station with multiple robots delivering meds, food, etc. to patients
People with disabilities
Convenience
Bogdan Pisica

4. Achievable Goals Implementation of the Robotic Chassis
Detection of Feedback on Robotic Motors
Robot Is Able To Move From Point A to Point B
Sonar Object Detection
Beacon Initiates Robotic Movement
Capable of Carrying a Beverage
Bogdan Pisica

5. Medium Level Goals Robot Able to Detect Direction of Beacon
Dynamic Object Avoidance
Calibration of Wheels Based on Feedback
Returns to Point A
Bogdan Pisica

6. High Level Goals Beverage Dispenser That Contains Multiple Options
Beacon Allows for Multiple Selections
Multiple Users
Bogdan Pisica

7. Details of Design

8. Details of Design Three Separate Pieces Robot, Base Station, Remote
Majority of the Processing Power will be in the Robot
Remote and Base Station both Transmit
Daniel Steffy

9. Robot Design State Machine in Microcontroller
Different Batteries for Motors, Sensors and Microcontroller
Sensors:
Beverage Presence Monitor (BPM)
RFID Reader
Directional Antennae
Ultra-Sonic Sensors
Daniel Steffy

10. State Machine
Daniel Steffy

11. Remote Design User Interface Unique RF ID tag
Communications with Base Station (XBee)
RF Transmitter Beacon
Logic Interfaces with Modules
Daniel Steffy

12. Base Station Design
Daniel Steffy

13. Motors Stepper Motor Reluctance Motor Precise High Power Density
No calibration needed
Reluctance Motor
High Power Density
Feed back system needed
Magnetic Reluctance [resistance]
Hameed Ebadi

14. Microprocessor MSP 430 F2616X Low Supply Voltage Range 1.8 V to 3.6 V
16-Bit RISC Architecture
64 I/O pins
12 A/D and 12 D/A Convertor Pins
Hameed Ebadi

15. Antenna Wave Properties to worry about
Transmission (use high frequencies to avoid)
Refraction
Reflection
Absorption
Diffraction
Hameed Ebadi

16. Xbee Wireless Comm Signal Strength Detection Possible Design Ideas
Multiple Xbee
Rotation
Chris Pearson

17. Ultrasonic Sensor PING (Ultrasonic Sensor)
Precise, non-contact distance measurement from 2 cm to 3 m.
20 mA, 5 VDC
Narrow Acceptance Angle
Multiple Sensors
Chris Pearson

18. Power Motorcycle battery for robot main power 9v for remote beacon
Wall wart for base station
Chris Pearson

19. Division of Labor Alissa Halvorson Task Alissa Bogdan Chris Danny
Task
Alissa
Bogdan
Chris
Danny
Hameed
Electrical
Controls
Sensors X
Comm
PCB
Power
Software
Path Finding
State Machine
Device Interfacing
Debugging
Mechanical
motors
wheels
antenna
chassis
System
Integration
Testing
Documentation
Alissa Halvorson

20. Schedule
Alissa Halvorson

21. Budget Part Description Price ($) Comm System Xbee Series 1 75
Micro-Controller System
MSP430
150
Antenna 20
Motor System
200
Batteries/Power
Motorcycle/9v/Wall
100
Sonic Sensors
PING)))
120
RFID System
PCB
105
Mechanical
Wheels/Chassis
Printing
Expo Docs
Misc
TOTAL
1370
Alissa Halvorson

22. Funding
UROP
Team Members
Donations
Scavenging
Alissa Halvorson

23. Risks and Contingency Plans
Ultra-sonic sensors don't work or too much interference
Run out of time or money
Reduce features/capability
Use bump sensors
Failure to detect beacon signal direction
Mechanical issues
Enlist mechanical major's help
Use IR "line of sight" sensors
Alissa Halvorson

24. Questions?