1. ECE 001: Team Awesome Patel, Hetal Odobasic, Stephen Rajeevan, Sushmitha Noel, Kelli Patel, Hetal Odobasic, Stephen Rajeevan, Sushmitha Noel, Kelli

2. Mr. Awesome

3. Objectives Build robot and write program to operate robot Move robot from start to finish on dark line Have robot complete a U-turn Make robot return to the start point by following the black line Build robot and write program to operate robot Move robot from start to finish on dark line Have robot complete a U-turn Make robot return to the start point by following the black line

4. Resources  Parts:  Two motors  One handiboard  Two analog sensors  Lots and lots of Lego blocks  Four tires-2 with rubber treads and 2 without  Parts:  Two motors  One handiboard  Two analog sensors  Lots and lots of Lego blocks  Four tires-2 with rubber treads and 2 without

6. Source Code  Overall while loop  State dependent cycle  Complete one state and then move on to the next  Used for U-turn  Analog sensors  Threshold of 200  Overall while loop  State dependent cycle  Complete one state and then move on to the next  Used for U-turn  Analog sensors  Threshold of 200

7. Procedure  Wheels used instead of treads for better navigation  Rubber wheels in back for better traction allowing better use of power  Front wheels without rubber to allow for smoother turning  Speed was set below full power to allow better control  Wheels used instead of treads for better navigation  Rubber wheels in back for better traction allowing better use of power  Front wheels without rubber to allow for smoother turning  Speed was set below full power to allow better control

8. Order of Development 1.Source code and construction of robot prototype done simultaneously 2.Trial and error resulted in modifications to both code and robot 3.Final code written and final robot constructed 1.Source code and construction of robot prototype done simultaneously 2.Trial and error resulted in modifications to both code and robot 3.Final code written and final robot constructed

9. Challenges  Robot malfunctions  First prototype was built with wheels  issue with gear ratio  Second prototype was built with treads  Friction and weight of robot led to dilemmas  Final design  Went back to wheels with a lower gear ratio that worked less efficiently but provided better overall results  Front wheels without rubber treads to minimize friction and add control  Robot built with more fortification to sustain it under stress  Robot malfunctions  First prototype was built with wheels  issue with gear ratio  Second prototype was built with treads  Friction and weight of robot led to dilemmas  Final design  Went back to wheels with a lower gear ratio that worked less efficiently but provided better overall results  Front wheels without rubber treads to minimize friction and add control  Robot built with more fortification to sustain it under stress

10. First Prototype Second Prototype Final Robot: Mr. Awesome

11. Programming Errors  Turns  Modified through trial and error until we concluded that one motor must have its speed reduced  U-turn  Initial program resulted in the robot turning in circles  Second attempt relied on imprecise time estimates  We concluded that the program should be written into two elements  Turns  Modified through trial and error until we concluded that one motor must have its speed reduced  U-turn  Initial program resulted in the robot turning in circles  Second attempt relied on imprecise time estimates  We concluded that the program should be written into two elements

12. Biomedical Experiment  A centrifuge is a device that separates liquids based on their density  Centrifuges can separate liquids faster by the “centrifugal” force than gravitational force  A centrifuge is a device that separates liquids based on their density  Centrifuges can separate liquids faster by the “centrifugal” force than gravitational force

13. Trial #Sensor reading (before separation) Sensor Reading (after separation) Oil Sensor Reading (after separation) Water Time to Separate (seconds) Motor Speed 115412222860100 21501201706080 311212521260 41151372046040 51151482066020