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![Page 1: Southeastern Conference 2014 Final Presentation. The Team Alex Holeczy Computer Engineering - Navigation - Debugging Thomas McCollum Electrical Engineering.](https://reader036.fdocuments.us/reader036/viewer/2022062305/5697bfe91a28abf838cb67e5/html5/thumbnails/1.jpg)
SoutheasternConference 2014
Final Presentation
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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
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Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals
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Competition Overview-The Course
1. Starting Zone2. Shooting position3. Target4. End Zone
Tasks:-Light/Object Detection-Accurate Aiming-Gun Firing-Autonomous
[1]
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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
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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
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Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals
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System Design
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Robot
1. 4400 mAh Battery2. Breadboard3. Linear Actuators4. Servo-controlled Gun Platform5. Line Follower/Ultrasonic Sensor Mount6. Motors/RGB Sensor (underneath)
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Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals
![Page 11: Southeastern Conference 2014 Final Presentation. The Team Alex Holeczy Computer Engineering - Navigation - Debugging Thomas McCollum Electrical Engineering.](https://reader036.fdocuments.us/reader036/viewer/2022062305/5697bfe91a28abf838cb67e5/html5/thumbnails/11.jpg)
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
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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
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Practical Constraints-Manufacturability
• Modular Designo Base o Gun Platform
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Practical Constraints-Manufacturability
• PCB designo Breakout board
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Practical Constraints-Manufacturability
Open layout for easy part modification or replacement
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Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals
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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.
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Autonomous Navigation
• QTR-8RC reflectance array sensoro 8 sensor pairso Sense reflected lighto PID control algorithm
[2]
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Navigation
Line follower placement on robot
Displacement on line
[2]
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Navigation
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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]
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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
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Light Detection
• Adafruit TCS34725 RGB Sensoro Color light-to-digital converter
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Light Detection
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Light Detection
RGB sensor mount setup
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Aiming-Distance Sensing
• Devantech SRF04
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Aiming-Distance Sensing
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Aiming -Dead Reckoning
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Aiming-Center Line
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Aiming
• 2 metal gear servos
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Dart Firing
• Nerf N-Strike Elite Firestrike
guns
• Linear Actuators3 Firgelli Linear Actuators
Metal Gear Servos
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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%
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Size
• Robot must fit within a 1’x1’x2’ volume
Height = 15.75”
Width = 9”
Length = 10.75”
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Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals
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System Testing
• Integration of Navigation and Gun systems
• Verify that robot can:o Navigate autonomouslyo Detect variable firing positiono Aimo Fire dart
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Completed Prototype
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Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals
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TimelineAugust September October November December
Course Construction and Strategy
Research and Purchasing
Programming
Debugging
Prototype
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Outline● Competition Overview● System Overview● Practical Design Constraints● Technical Design Constraints● System Testing● Timeline● Future Goals
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Future Goals
• Print and Populate PCB
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Future Goals
• Incorporate Camera/Image Processing onto Prototype for Aiming Calibration
• Finalize Rainy Day
Case Solutions
• Optimize Design
[3]
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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.
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SoutheasternConference 2014
Final Presentation