1. Juan David Rios – Graduate Student ECE IMDL FALL 2012 Dr. A. Antonio Arroyo - Eric M. Schwartz November 29/2012

2. 1. General design  Global structure of AlienBot 2. Hardware – Final components  Components of the robot 3. Behaviors and software  Explanation of the behaviors and the software 4. Conclusions

4.  Energy sources Lipo battery – 5000 mAh Lipo battery – 2200 mAh  Drivers H bridge MC33926 Power regulator 6Vdc NPN Transistor 2N2222

5.  Mechanical components  Sensors Metalgear motor 100 rpm Pan/tilt system Futaba servo 3004 Bluetooth module IR array sensor Ultrasonic module HTC one S camera MC33926 – Current sensor Laser pointer

6.  Main devices  Feedback devices Arduino mega ADK HTC one S Lenovo laptop Laptop display Laptop speakers

8.  Behaviors and precedence: 1) Avoid obstacles 2) Color tracking 3) Line tracking 4) Move forward

9.  The ultrasonic modules are the key component of this behavior LFRAction 000Nothing 001Turn left and move forward 010 Move backwards, then turn (left or right) randomly and move forward 011Turn left and move forward 100Turn right and move forward 101 Move backwards, then turn (left or right) randomly and move forward 110Turn right and move forward 111 Move backwards, then turn (left or right) randomly and move forward Threshold: 20 cm

10. Readline valueMeaning 0Line is over sensor 1 1000Line is over sensor 2 2000Line is over sensor 3 2500Line is between sensor 3 and 4 7000Line is over sensor 8

11.  Color detection using Python and OpenCV with a smartphone camera. Servos controlled by Arduino.

13.  This course was awesome, I learned a lot and build my first robot.  A design of a robot is a very complex task. It requires knowledge several disciplines.  Working with one behavior is not the same as working with several behaviors (sample time, synchronization, etc.)