ECE 402WI | Senior Design I Mid-term Robotics Project Presentation

RoboTeam 4 Noah Rhee, Hazim Salem, Ratthatrust R.T. Leryoskajai, Anthony Miles, Cece Lamah

Roboteam 4

Hazim Salem Cece Lamah (Arm (Motors & Mechanics & Chassis) Programming)

Tony Miles (Navigation & Website)

R.T. Noah Rhee Leryoskajai (Programming (Power, & Computer Chassis & 3D Vision) Modeler)

Commonwealth System Operating for the general good and common interest

3D Demo Video

Project Definition
Design & build a robot no larger than 1 foot cube to navigate an ocean and use a wooden tool to put out an oil-rig fire within 4 minutes Task is designed to test robotic ability in mobility, manipulation, and vision

Comply with Rules

Chassis fundamental movements (mobility) Robotic arm control (manipulation) Camera module for tool detection (vision)

Robot Requirements
Autonomous No outside communication Maximum dimensions: 1x1x1 Maximum weight: 50 lbs Safe Stop & Start Switch

Chassis | Three Revisions

Chassis #1 | Custom Heavy Chassis Weak motors Unsynchronized

Chassis | Chassis #2
Rover 5 Platform Too much sideways friction Deviate forward movement Not sturdy

Chassis | Chassis #3
Vex Robotics Solid Build Rotates & Drives properly Customizable 9 x 11 x 4

Chassis | VEX Robotics

(2) 7.2 V DC Motors * Free speed: 100 rpm Stall Current: 4.8 A Free Current 0.37 A Built-in resettable fuse (PTC) PTC rated for continuous 0.9 A Successful fundamental navigation motion!
* http://www.vexrobotics.com/276-2177.html

Motor Driver
SainSmart L293D (H-bridge) Motor Shield

Chassis | Demo

Power | Distribution Board

REDACTED
12V, 4Ah Lead Acid Battery +9V LM7809, +5V LM7805 regulator Capacitors to minimize noise PTCs for overcurrent protection

Power | Distribution Board

REDACTED

Arm | Manipulation
Using a pre-fab hobby robotic arm. 4 Degres of Freedom Four 3V DC motors with gears provide torque.

Arm | Control
Controlled using Arduino Motor shield. Feedback using potentiometers (Arduino analog inputs).

Arm | Gripper
Factory width not enough. Custom gripper created. Rubber/sticky material to be applied.
Old New

3 in. maximum grasp width

Arm | Programming
Using Arduino IDE. Under development. Moves each joint to desired angle. 10-bit binary (0-1023). Currently, motors overshoot target angle.

Arm |Current Version

Computer Vision (CV)

Order of tools is unknown Robot must choose the right tool Use camera and image processing for vision Runs on Raspberry Pi Two methods of attack Compare Area Detect Shape

CV | Comparing Area
Each tool has unique area Take pictures and then count dark pixels Compare pixel counts
A = 3.97 in A = 2.19 in A = 4.5 in

CV | Pixel Count
Pixel Count = 2,577,004 Pixel Count = 1,425,614
import ImageEnhance import Image imageFile=image.jpg" im=Image.open(imageFile) width, height = im.size im = im.point(lambda p: p > 100 and 255) im = im.convert('1') pixels = list(im.getdata()) pixel_count=height*width(sum(pixels)/256)

CV | Detect Shape
Each tool has unique geometric shape MATLAB toolbox used for image processing Loaded onto Raspberry Pi using Simulink
http://www.mathworks.com/ help/images/examples/identi fying-round-objects.html

CV | Roundness

IMU | Inertial Measurement Unit

Gyroscope

Accelerometer

Barometer + Thermometer
Magnetometer

IMU | Schematic

Inertial Measurement Unit

Gyroscope Measures Angular Velocity Angular Displacement
Initialize All Constants Calculate DC Offset and Noise Level

For 10 milliseconds

- Retrieve - Convert to via Integration

Source: Prof. Hill California State University

Budget
Component Cost 2 Arduino Uno $31.94 Component Rover 5 Chassis Cost $50.00

Arduino Mega Raspberry Pi Raspberry Pi Camera 2 Ping Sensors M-F Cables

2 Stepper Motors 4 Wheels

$33.95
$42.87

VEX Motors
VEX Chassis

$40.00
$19.00

$34.94
$10.05

VEX 4 Wheels
VEX Derlin Bearings

$20.00
$5.00

Current Total $407.90 Projected $800 Travel $400.00 Total Budget $1600.00

$4.83
$37.25

Vex Shaft Collars

Vex Drive Shaft

$10.50
$5.50

$30.83

Caster Wheel

$2.00

Timeline
Week Oct. 21 27 Objective Test components (Arm, Camera, Navigation, etc) Contingency If tests are unfavorable, will need more time.

Oct. 28 Nov. 3
Nov. 4 10

Modify components based Order new components or on testing begin major modifications
Further testing of individual components Prepare new components for testing

Nov. 11 17 Nov. 18 24
Nov. 25 Dec. 1

Assemble all components Begin testing new and create robot components Test robot
Modify robot based on testing

Modify components based on testing

Assemble all components and create robot

Dec. 2 8 Dec. 9 15

Test robot Finish robot

Test robot Finish robot

Questions?

Hazim Salem Cece Lamah (Arm (Motors & Mechanics & Chassis) Programming)

Tony Miles (Navigation & Website)

R.T. Noah Rhee Leryoskajai (Programming (Power, & Computer Chassis & 3D Vision) Modeler)

For regular updates, check out: www.umkcroboteam4.weebly.com