Final Presentation. The Team Competition Overview Design Constraints & Improvements System...

SECON 2013

Final Presentation

OUTLINE

The Team Competition Overview Design Constraints &

Improvements System Testing Timeline Bill of Materials

THE TEAM

Jackson KnottElectrical Engineer• Hardware Packaging• Navigation

Brian LampkinElectrical Engineer• PCB Design• Vision

Ian TurnipseedElectrical Engineer• Hardware

Packaging• Vision

Matt WilliamsElectrical Engineer• Hardware Packaging• Website

John MorrisonElectrical Engineer• Hardware

Packaging• Navigation

Matt WattsElectrical Engineer• PCB Design• Navigation

Dr. Robert ReeseAdvisor

OUTLINE



THE COURSE

1) Starting Zone2) Loading Zone3) Sea Delivery Zone4) Rail Delivery Zone5) Air Delivery Zone

COMPETITION FORMAT

Qualifying RoundDrive One Foot Forward

Preliminary RoundsThree 5 Minute RunsScore will be Sum of the Three

RunsTop 8 Teams Advance

Final RoundsSingle-Elimination BracketSeeding based on Preliminary

Standings

QUALIFYING ROUND

Four Available Practice Courses

SCORING

Rail Cargo (Six Blocks) 50 Points: Correct Size 100 Points: Correct Color

Sea Cargo (Six Blocks) 50 Points: Correct Size 100 Points: Correct Color

Air Cargo (Two Blocks) 350 Points: Correct Size 100 Points: Correct Color

Deductions 20 Points: Wrong

Zone

OUTLINE



Type Name

Manufacturability Modular Design

Sustainability Battery Life

DESIGN CONSTRAINTS - PRACTICAL

MANUFACTURABILITY

Modular Design PCB

LayoutPopulation

ChassisLayout Optimization

MANUFACTURABILITY

PCB Layout and Population PIC24 Breakout Board Headers/Locking Connectors

MANUFACTURABILITY

Chassis Layout Optimization

Battery Compartment

Molex Battery Connection

MANUFACTURABILITY

Chassis Layout Optimization Battery Terminal Strip

MANUFACTURABILITY

Chassis Layout Optimization Cable Tray for Routing

MANUFACTURABILITY

Chassis Layout Optimization Wheels Grippers

SUSTAINABILITY

Maximum Battery Life Average Current draw for the

system is 2.3 A Battery Rating is 4400 mAh Therefore, Overall Battery

life is about 2 hours.

SUSTAINABILITY

Through testing, we found that the battery performance dropped after 20-30 minutes of use.

To obtain the highest possible performance throughout the SECON Hardware Competition, the battery packs were charged following each run.

Name Description

Multiple Block Carrier

The robot must carry the maximum allowed number of blocks.

Navigation The robot must navigate the course autonomously.

Detection The robot must detect color and size of blocks and spaces.

Speed The robot must travel at a speed of 0.4 feet/second.

Size The robot must be no larger in size than 12”x12”x16”[1]

DESIGN CONSTRAINTS - TECHNICAL

MULTIPLE BLOCK CARRIER

Two Claws Two Servo Motors for Each

GripperArm Upright/Arm LoweredClaw Opened/Claw Closed

Same Side Alignment for Each Gripper


Arm UprightPeriod High = 1400

µs

Arm LoweredPeriod High = 2350

µs


Gripper Opened

Period High = 1800 µs

Gripper Closed

Period High = 600 µs

NAVIGATION

Autonomous Infrared Distance Sensing Encoders

NAVIGATION

Infrared Distance Sensor Testing

0 0.5 1 1.5 2 2.50

2

4

6

8

10

12

14

f(x) = − 1.18497448028744 x³ + 6.93058969354016 x² − 14.7408192713436 x + 13.2485638848871

Voltage

Dist

ance

to W

all

NAVIGATION

Encountered Issue

NAVIGATION

Design Improvement Extra IR Sensors Added for Precise

Navigation

DETECTION

Mini-ITX and Camera Camera Ignores White and Black Detect Size and Color of

Blocks/Zones Serial Communication with

PIC24

DETECTION

Size: 2 RGB: 231,123,99

DETECTION

Brown and Green Filters

DETECTION

Sliders to control detection zones

DETECTION

Design Improvement Camera Mount

Locking 5 Degrees of

Freedom Light Source

Illuminates Blocks/Zones

Servo-Deployed Hood

Blocks Ambient Light

SPEED

Minimum Speed of 0.4 feet/sec. At 12 Volts, motors perform at 150 RPMWheel Diameter (d) = 90 mm.Circumference (c) = πd = 282.6Distance per Minute = c*RPM = 42,390

mm/min.Distance per Second = 706.5 mm/sec. =

2.32 ft/sec.

SPEED

Drive Motor TestingFor a Speed of 0.4 ft/sec, motors must run at

17.2%

Required for Task Completion Fast Speed (40% Duty Cycle)

SIZE

Robot must fit within a 12”x12”x16” Volume

12”

16”

OUTLINE



SYSTEM TESTING

Integration of all Subsystems Ensure that the Robot can do the

following: Avoid Walls Detect a Block Pick Up/Set Down a Block Match a Block with Correct Loading

Zone

SYSTEM TESTING

Calibration for Competition Courses

SYSTEM TESTING

Preparing for Preliminary Run

SYSTEM TESTING

Vision System Preparation

SYSTEM TESTING

Round Beginning

SYSTEM TESTING

Approaching the Drop Zone with Blocks

SYSTEM TESTING

Preparing for Delivery

SYSTEM TESTING

The Delivery

PRELIMINARY RESULTS

1) Western Carolina University – 4950 Points2) University of Alabama – 1700 Points3) University of Evansville (IN) – 1440 Points

4) Mississippi State University – 1150 Points

5) FAMU/FSU – 840 Points6) UNC-Asheville – 800 Points7) North Carolina A&T – 710 Points8) Tennessee Tech University – 650 Points

FINAL RESULTS

T5) Mississippi State

OUTLINE



January February March April

PCB Population

System Testing

Packaging

Debugging & Optimization

Competition

TIMELINE

OUTLINE



BILL OF MATERIALS

BILL OF MATERIALS

Item Cost

Computer ~$270

14.8V/4400mAh Battery ~$80

(2) 67:1 Metal Gearmotors w/ Encoders & Wheels

~$75

(6) Servo-Motors (Arm, Claw, Hood) ~$180

(5) Infrared Distance Sensors ~$75

(4) Robotic Claws ~$40

(2) Front Wheel Casters ~$10

Camera w/ Telescoping Rod ~$70

Lights ~$5

Fan Cables ~$30

Printed Circuit Board w/ Fabrication ~$200

Course Construction ~$150

Miscellaneous Hardware Materials ~$50

BILL OF MATERIALS

Unit Subtotal: ~$1235 Spares & Other Necessities: ~$365 Final Project Cost: ~$1600

[1] IEEE SoutheastCon 2013 Hardware Competition. Final Version. 11 Sep. 2012. http://ewh.ieee.org/reg/3/southeastcon2013/documents/Final_SECON_2013_Hardware_Rules.pdf

REFERENCES

http://ewh.ieee.org/reg/3/southeastcon2013/documents/Final_SECON_2013_Hardware_Rules.pdf

http://ewh.ieee.org/reg/3/southeastcon2013/documents/Final_SECON_2013_Hardware_Rules.pdf

Questions

IAN TURNIPSEED

YEE-HAW

RIDE ‘EM Cowboy

PREPPING FOR THE FINALS

Crack is

Whack

Watch out for

that seagull

AT THE BANQUET

Shhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhhh

hhhhh

We’re all

adults now

Final Presentation. The Team Competition Overview Design Constraints & Improvements System...

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