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Tom and Jerry By: Nicholas Johnson & Joshua Hartman EEL-5666 – Intelligent Machines Design Lab.

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Presentation on theme: "Tom and Jerry By: Nicholas Johnson & Joshua Hartman EEL-5666 – Intelligent Machines Design Lab."— Presentation transcript:

1 Tom and Jerry By: Nicholas Johnson & Joshua Hartman EEL-5666 – Intelligent Machines Design Lab

2 EEL-5666: Intelligent Machines Design Lab Overview Overall Function Tom’s Design Jerry’s Design Special Sensor – RF Link Conclusions Possible Improvements Questions

3 EEL-5666: Intelligent Machines Design Lab Overall Function Jerry and Tom simulate a Predator / Prey Model. Jerry is the prey and has prey behaviors such as wandering and grazing. Tom is the predator and searches for Jerry. When Tom detects Jerry he will try to capture Jerry who tries to run away.

4 EEL-5666: Intelligent Machines Design Lab Tom

5 EEL-5666: Intelligent Machines Design Lab Platform MAVRIC-IIB Development board Wood Cardboard part stands Black duct tape. More black duct tape.

6 EEL-5666: Intelligent Machines Design Lab Locomotion GHM-03 Spur Gearhead Motor TPIC0107B-based motor driver These motors are fast

7 EEL-5666: Intelligent Machines Design Lab Obstacle Avoidance 3 Devantech SRF05 Use fuzzy-logic ideas to define obstacles as close, far, or in between Very rarely hit obstacles

8 EEL-5666: Intelligent Machines Design Lab Searching for Jerry Futaba S148 Panasonic PNA4611 Infrared Photo IC Servo rotates from -45 o, -22.5 o, 0 o, 22.5 o, 45 o At each location, reads A/D and detects if value<200. If so, Jerry is detected!

9 EEL-5666: Intelligent Machines Design Lab Searching for Jerry II IR detection not so easy: Must use ADC to read photo IC output Vout goes low upon detection Must have receiver highly shielded to give directional output

10 EEL-5666: Intelligent Machines Design Lab Jerry

11 EEL-5666: Intelligent Machines Design Lab Platform Material: Wood  Cut using the T-Tech Small, Compact Design  Had to be smaller than Tom Limited Space  Difficult to fit all the electronics  Addition of unforeseen pieces problematic

12 EEL-5666: Intelligent Machines Design Lab Actuation 2 Tamiya 70168 Double Gearboxes  114.7:1 Gear Ratio  4 wheels total Driven by TPIC0108B PWM H-Bridge Wheels on either side function independently  Each side driven by 1 Motor Driver Servo Motor to turn “Tom Detector”

13 EEL-5666: Intelligent Machines Design Lab Sensors Bump Switches  2 Front, 2 Back Maxbotix Ultrasonic Rangers  2 Front, 1 Back IR Emitter / Detector (Close Range) 56.8 KHz IR Detector 315 MHz RF Receiver 434 MHz RF Transmitter

14 EEL-5666: Intelligent Machines Design Lab Sonar Provides analog interface  The higher the voltage the further away the object. Start time of each sonar can be controlled. Readings obtained 50ms after start. Sequentially check each sonar  If returned value below threshold then obstacle detected.

15 EEL-5666: Intelligent Machines Design Lab Jerry’s Design – Close IR Analog output  Brighter areas give lower voltages.  If returned value above threshold then obstacle detected.

16 EEL-5666: Intelligent Machines Design Lab Jerry’s Design - Behaviors Wandering  Randomly moves around avoiding obstacles.  If “food” (black spot) is detected it will switch to grazing behavior.  Frequently looks for Tom.  If Tom is detected it will immediately switch to running behavior.

17 EEL-5666: Intelligent Machines Design Lab Jerry’s Design - Behaviors Grazing  Holds on top of food for a preset time.  Will slowly move across the food until passes it completely.  Infrequently looks for Tom.  If Tom is detected it will switch to running behavior.

18 EEL-5666: Intelligent Machines Design Lab Jerry’s Design - Behaviors Running  Moves away from Tom as fast as possible.  Turns frequently in order to escape Tom.  If caught, will stop and wait to be reset.  If preset time has gone without being caught will return to wandering behavior.

19 EEL-5666: Intelligent Machines Design Lab Special Sensor - RF Link www.sparkfun.com Tom:  434MHz Receiver  315MHz Transmitter Jerry:  315MHz Receiver  434MHz Transmitter Links used to communicate robot status to determine exhibited behaviors.

20 EEL-5666: Intelligent Machines Design Lab RF Link Difficulties Receiver designed to “lock on” to signal. Therefore, sender must transmit alternating bits for receiver to lock onto the baud rate. Receiver will increase gain until it finds a detectable signal. Therefore, it will output garbage if the transmitter is not sending.

21 EEL-5666: Intelligent Machines Design Lab RF Link difficulties Receiver must “synchronize” with transmitter. If a transmission looks like: 0 0 0 1 0 1 1 0 1 0 1 0…, the USART has no real way to recognize the start of a transmission. Over a wired link, the line is usually high and is pulled low using the start bit. This is not the case in RF. Finally, the receiver has a band-pass filter centered at its tuned frequency. When the robots get far enough away, this is washed out by the local transmitter.

22 EEL-5666: Intelligent Machines Design Lab RF Link Algorithm Use interrupts to continually send 0xAA, the locking code. When want to transmit, send out 0xFF to resynchronize the link Finally, send out data.

23 EEL-5666: Intelligent Machines Design Lab Conclusions Both robots successfully avoid obstacles. Wireless successfully incorporated. Tom successfully detects Jerry and will head towards him.

24 EEL-5666: Intelligent Machines Design Lab Possible Improvements More reliable detection method.  IR not always reliable and dependent on environment.

25 EEL-5666: Intelligent Machines Design Lab Questions? Acknowledgements  Dr. A. A. Arroyo  Dr. E. M. Schwartz  Julio Suarez  Adam Barnett  Thomas McDonley  Jason Taylor


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