SoutheasternConference 2014

Final Presentation

The Team

Alex HoleczyComputer Engineering- Navigation- Debugging

Thomas McCollumElectrical Engineering- Gun Design- Platform Assembly

Khanh NguyenComputer Engineering- Light Detection- Website

Rebecca RougeauElectrical Engineering- Distance- Hardware

Logan ShannonElectrical Engineering- Gun Design- Targeting

Katie WilliamsElectrical Engineering- PCB Design- Research

Dr. Robert ReeseAdvisor

Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals

Competition Overview-The Course

1. Starting Zone2. Shooting position3. Target4. End Zone

Tasks:-Light/Object Detection-Accurate Aiming-Gun Firing-Autonomous

[1]

Competition Overview-Format

• Qualifying Roundso Robot must move minimum of 1’o Pressure must be gauged and approved

• Competition Roundo Three 2 minute heatso Heats’ scores are summed togethero Top 8 teams advance

• Final Roundo One 2 minute heat under normal judging conditionso Tiebreaker round in the case of tie

Competition Overview-Scoring

• 25 points - Robot leaves starting position

• 50 points - First correct stop at firing block

• 300 points/block - Dart clears target

• 25 points -Robot stops in end zone

• 1 point/second - Completion under time limit

Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals

System Design

Robot

1. 4400 mAh Battery2. Breadboard3. Linear Actuators4. Servo-controlled Gun Platform5. Line Follower/Ultrasonic Sensor Mount6. Motors/RGB Sensor (underneath)

Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals

Practical Constraints-Sustainability

● Battery life far exceeds competition time limit■ 300 mA for PIC24H ■ 675 mA for Raspberry Pi Model B with Camera■ 500 mA/each for servos and linear actuators■ 30 mA for SRF04 Ultrasonic Sensor■ 100 mA for line follower■ 3A for motors

○ Battery rating is 4400 mAh○ Therefore, battery life is approximately 40 minutes

• Rechargeable battery to reduce cost

Practical Constraints-Sustainability

• Durable• Plastic used for guns

■ Lightweight (0.64 pounds before modification)■ Requires strong force to break■ Repeatable

● Accurate after 200+ shots● Maximum range approximately same after 200+ shots

● Plexiglass Platform■ 0.25” thick■ Pivot pressure reduced by aluminum sheet metal■ Supported by 0.25” all-thread beams

● Digital titanium-gear servos

Practical Constraints-Manufacturability

• Modular Designo Base o Gun Platform

Practical Constraints-Manufacturability

• PCB designo Breakout board

Practical Constraints-Manufacturability

Open layout for easy part modification or replacement

Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals

Technical Constraints

Name Description

Navigation The robot must navigate the course autonomously.

Light and Location Detection

The robot must recognize green start LEDs, shooting blocks, and the finish zone.

Aiming/Dart Firing The robot must accurately fire 3 darts through a hoop.

Speed The robot must complete the course in < 60 seconds to earn bonus points.

Size The robot must not exceed 1’x1’x2’ at any point in the competition.

Autonomous Navigation

• QTR-8RC reflectance array sensoro 8 sensor pairso Sense reflected lighto PID control algorithm

[2]

Navigation

Line follower placement on robot

Displacement on line

[2]

Navigation

Navigation-Intersections and Turning

• All or most sensors show line found

• Continues forward for a short time before turning left

• Turn from rightmost

sensor detecting line

to leftmost sensor

detecting line [2]

Location Detection

• Line Followero Blue firing blocks and red end zone seen as white

lineo Detection same as intersection detection

• 3 second pause

• 180 degree turn

Light Detection

• Adafruit TCS34725 RGB Sensoro Color light-to-digital converter

Light Detection

Light Detection

RGB sensor mount setup

Aiming-Distance Sensing

• Devantech SRF04

Aiming-Distance Sensing

Aiming -Dead Reckoning

Aiming-Center Line

Aiming

• 2 metal gear servos

Dart Firing

• Nerf N-Strike Elite Firestrike

guns

• Linear Actuators3 Firgelli Linear Actuators

Metal Gear Servos

Speed● 2 minute time limit

○ 6.55 cm/s

● Goal: <1 minute● With gun platform, course completion

approximately 38 seconds with motors running at 55%

Size

• Robot must fit within a 1’x1’x2’ volume

Height = 15.75”

Width = 9”

Length = 10.75”

Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals

System Testing

• Integration of Navigation and Gun systems

• Verify that robot can:o Navigate autonomouslyo Detect variable firing positiono Aimo Fire dart

Completed Prototype

Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals

TimelineAugust September October November December

Course Construction and Strategy

Research and Purchasing

Programming

Debugging

Prototype

Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals

Future Goals

• Print and Populate PCB

Future Goals

• Incorporate Camera/Image Processing onto Prototype for Aiming Calibration

• Finalize Rainy Day

Case Solutions

• Optimize Design

[3]

References[1] IEEE Southeastcon 2014 Student Hardware Competition Rules. http://ieee.engineering.uky.edu/files/2013/04/Revision2.pdf.

[2] “Line Tracking Sensors and Algorithms.” IKA Logic [online]. http://www.ikalogic.com/line-tracking-sensors-and-algorithms/. Nov. 19, 2013.

[3] “Raspberry Pi Camera Board.” Adafruit Industries [online]. Available: http://www.adafruit.com/products/1367. Nov. 17, 2013.

SoutheasternConference 2014

Final Presentation