1. Robot Over Construction Mark D. Dahl Michael van der Giet Clint Esperson

2. Functional Partition  Manual operation controlled by the touch display  Autonomous operation  Navigate through workspace  Pick up bricks from storage areas  Identify brick and decide were to put it  Put bricks together and build a wall structure in build area

3. Functional Partition (Cont.)

4.  Actuators used  4 Lego motors driven by JCX board  1 geared motor driven by H-bridge IC  Sensors used  3 Lego touch sensors  3 Lego rotation sensors  1 Lego light sensor

5. Functional Partition (Cont.)

6. Software Flow Chart

7. Software Flow Chart (Cont.)

8. Project Objectives  Originally, we wanted to construct a robot that would:  Be able to identify lego bricks  Use those bricks to build something  Be given a building plan and use it to find bricks it needs and build the plan

9. Problems  Designing a claw or gripper that could handle lego bricks  Solution: handle the larger duplo bricks  Achieve 3 degrees-of-freedom arm  Solution: make the arm moveable

10. Problems (Cont.)  Insufficient strength of lego parts for the robot  Solution: use aluminium frame for crane of robot  Insufficient sensitivity of lego sensors  Tried using a mouse as a rotation sensor, but it ended up not working  Solution: lego sensors with more gear

11. Problems (Cont.)  Enable robot to find bricks and place to build  Solution: bounded area  Hardware issues (JSTAMP not communicating with PCs)  Solution: JTAG ribbon cable seemed to be the problem, replace them

12. Final Project Results  A robot which can build a wall with two different sized duplo bricks  A display screen to control the robot manually or set it into autonomous mode  Javadocs and javacode can be found at our website  Http://www.cs.utah.edu/~mdahl/robotovercons truction Http://www.cs.utah.edu/~mdahl/robotovercons truction

13. If We Had This to Do Over Again:  Plan a more realistic project  Our original plan was too ambitious given the time constraints and parts available  Attempt to distribute the work more evenly among team members  Although, originally it seemed to be divided up evenly

14. If We Had This to Do Over Again: (Cont.)  Find a system that could be used for code maintenance and use it  Transferring code back and forth and making sure that we got all the changes from different versions of the same classes increased the difficulty of the project

15. Questions???