e-Yantra Robotics Competition 2015

Implementation Analysis Hotel guest

Service
<Team ID>
Team leader name
College
Email
Date
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This report contains three sections:
1. Preparing the Arena
2. Design Analysis
3. Algorithm Analysis
Teams have to answer question/s from these sections according to their
understanding of the theme and the given Firebird V robot.
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Preparing the Arena

(5)
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Prepare the arena according to the steps given in Section 3: Arena, of the
rulebook. Please follow the arena configuration shown in Figure 12: Final
Arena of the rulebook. Take a photo of the completed arena such that the
entire arena is clearly visible in the photo. Insert the image here.
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Design Analysis
Q1. Teams have to make a mechanism for picking and placing the
Service and Garbage to service the rooms.
a) Choose an option to position the mechanism on the robot and
why?
(5)
1. Front2. Back

3. Right/Left

Answer: __1.Front__________________
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Answer: 1
Front
We would like to place our mechanism on the front.
Reasons for placing the mechanism at the front are as follows:
(a) REASON FOR PLACING AT FRONT If placed at the front it is
easier to coordinate the sharp sensors with the gripper for picking
and placing the object. Our arrangement will ensure that the gripper
arrangement will not interfere with the arrangement of sharp
sensors at the front.
We will coordinate the opening and closing of gripper with the
values obtained by sharp sensors after detecting the object.
(b)WHY NOT LEFT/RIGHT: In our case we would not like to place
mechanism at right or left as we are placing a pair of sharp sensors
on the left and right according to our wall-following algorithm. Since
they are placed at the left side and right side for wall following, if
mechanism is placed at left it will fluctuate the value of sharp
sensors and hence hamper the wall following mechanism.
(c) WHY NOT BACK :According to theme we are placing the color
sensor at front as it necessary to detect all the different types of
rooms and boxes therefore if we place this picking mechanism at
back it will have to make extra motion which will increase the time
so this is the reason we are not placing the mechanism at the back.

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b) Explain the design of the mechanism and how it is mounted on

the robot.
(10)
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Following figures and discussions gives a view of how the mechanism and
sensors would be placed on our fire-fighting robot:
Fig 1

Above shown mechanism will be appropriately mounted over Firebird v

robot. Each distinct
part is explained below:
Our mechanism for picking and placing the object will consist of
following main parts arranged as shown in figure:
1. Sharp sensors: The sharp sensor placed at the front of the robot is used
to measure the distance of the obstacle ( service box) from the robot , when
the distance is smaller than the particular distance(which we will specify in

our algo) , the robot will stop and activate the servo for gripper in order to
pick and place the object at the required positions.
2. Servo motor 1: The servo motor 1 is placed at the top of the robot and is
used for the angular motion along vertical axis for the movement of end
effector (i.e gripper connected to servo 2) so that gripper can pick and place
the object vertically.
3. Servo motor 2: The servo motor 2 is used for the gripper action for holding
and picking the object, as soon as the robot is stopped the gripper action
comes into play and is used in conjunction with servo1.
4.Gripper : We are using the geared gripper which consist of single servo
motor2 . The geared mechanism helps to synchronize the movement of both
the arms so that both the arms can be used for picking the object and gives
more accuracy. It is ensured that the arrangement of both arms will be
around the sharp sensor so it will not cause hinderence to the sharp sensor.
Fig 2

This is the algorithm that will provide the basic overview of the picking and
placing mechanism of the firebird v robot:

Let n be the fixed distance between the front sharp sensor and the
obstacle as specified in algorithm and d be the variable present distance
between the robot and the obstacle.
Case 1: (when d>n)
The bot continue to move towards the obstacle.
Case 2: (when d=n)
As soon as the distance is equal to fixed specified distance the robot will stop
and the servo 1 and servo 2 will be on so that the gripper can open its arms
and hold the object.

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c) To design the mechanism for picking and placing the Services,
what challenge/s do you expect to face and how you will
overcome them?
(5)
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The difficulties with solution we expect to face while picking and placing
using the mechanism and the possible solutions to overcome these
challenges are:
1. Positioning of robotic arms in order to pick objects: The main challenge
in front of us is to make coordination between the sharp sensors and
arms of robot so that it can hold the object accurately with precision.
We can overcome this problem after performing repeated experiments
so that the robotic gripper can be calibrated accurately and hold the
object by its edges.
2. Holding power of the servo motor 2(gripper): According to our task we
have to pick and place the object , so we have to examine and adjust
the power of servo motor carefully as the boxes are made up of
thermacole and are delicate so the power of servo motor 2 is carefully
adjusted.
3. The rotating gears of the grippers are to be designed very carefully
with accuracy because even the small difference in the angles of
slotted disc can lead to jamming of grippers which will ultimately
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doesnt enable us to pick object therefore proper synchronization

between both the dics is very important for efficietive operation.

Q2. Choose the actuator you will use to design the mechanism.
(5)
1. DC-Motor 2. Servo Motor 3. Stepper Motor
4. Others
Answer: _2.Servo motor________________
<Servo motors are basically the dc motors with built in gears and feedback
circuits. A servo motor is a rotatory actuator that allows
the control of
angular position precisely. Motor drivers are not required for servo motors.
The servo motors are generally coupled with the sensors for the position
feedback .The servo motor has a potentiometer (a variable resistor) that is
connected to the output shaft. This pot allows to monitor the current angle of
the servo motor. If the shaft is at the correct angle, then the motor shuts off.
If the circuit finds that the angle is not correct, it will turn the motor to the
correct direction until the angle is correct. The output shaft of the servo is
capable of traveling upto 180 degrees.
Servo motor uses proportional control. More specifically, it is a closed-loop
servomechanism that uses position feedback to control its motion and final
position. If the output position differs from that required, an error signal is
generated which then causes the motor to rotate in either direction, as
needed to bring the output shaft to the appropriate position. As the positions
approach, the error signal reduces to zero and the motor stops.
Advantages of servo motors:
1. The servo motor provided in the kit has the rotation between 0 to 180 0
which is enough for the picking and placing of services that is needed in our
mechanism.
2. The servo motors have good speed response as well as high torque which
allows to pick the objects more efficiently.
3. The servo motors allows the accurate rotation within a limited angle which
provides more accuracy and allows to place the object accurately.
4. Servo motors have high torque to inertia ratio and it can rapidly accelerate
loads that is what required in our application.
5. They have good precision and high resolution for positioning

Reasons for not using the other actuators:

Controlling a DC motor is quite difficult and also there will be chances of
slippage in case of dc motors. In comparison to stepper motor, servo motor
is cost effective in our application as a fairly high torque motor is enough for
our picking and placing mechanism. Servo motors are free of vibration and
resonance so allows high accuracy and precision.

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Q3. Explain the method to detect the wall and your algorithm for
wall following for theme implementation?
(10)
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Mention the range of the sensor values you have obtained to detect and
follow the wall.
Answer format for algorithm: Bulleted form
Step 1:
Step 2:
Step 3etc.
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Q4. Explain how you will detect the Indicators and Garbage. Also
show the positioning of the sensors to detect the same.
(10)
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Explain in detail the detection of the Indicators and Garbage. Draw neat
diagram/s to show the positions of sensors on and around the robot. Justify
placement of the sensors shown in your diagram/s and state the advantages
of the chosen position over others.
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Q5.Explain how your robot will respond in the following cases:

(10)
Case 1: All the rooms (RoomA,.,RoomD) have Black Indicators on
both the Indicator
Positions.
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Explain what your robot will do in the above case.
Answer format: Text/Bullets
Word limit: 100 words
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Case 2: One room has Black Indicators on both the Indicator
Positions while the remaining rooms have Red, Green and Blue
Indicators at any one of the Indicator Position.
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Explain what your robot will do in the above case.
Answer format: Text/Bullets
Word limit: 100 words
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Q6.
(10)
a. How will you determine the threshold value for a given color?
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Write the logic to determine the threshold value using your own words.
Answer format:
Step 1:
Step 2:
Step 3etc.
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b. Upload a video to show the color sensor values for Red, Green,
Blue and Black using RGB LED.
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For video: Place the color sensor near the Red, Green, Blue and Black paper
as shown in the video tutorial and display all the values of the color sensor
on the Liquid Crystal Display (LCD).

Also, blink the RGB LED for each color for 1 second (LED should be
off for Black color). Instructions regarding the video-uploading are
available on the portal.
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c. Threshold value obtained for each color = _____
_____

_____

_____

Algorithm Analysis
Q-1 Draw a flowchart illustrating the major functions that are used.
(20)
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The flowchart should elaborate on every possible functions that you will be
using for completing the assigned theme. Example: lineFollowing(),
colorDetection() etc.
Follow the standard pictorial representation used to draw the flowchart.
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Q-2 Draw a flowchart illustrating main function of your code.
(10)
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The flowchart should explain how you will be using the functions defined in
the main program for completing the theme assigned to you.
Follow the standard pictorial representation used to draw the flowchart.
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