RAMMBO the Robot Butler

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RAMMBO the Robot Butler. R obert Morson A ngela Uribe M elissa Jansen M ahdi M oghaddamzadeh B ianca Ragin O ur team (as stated above). Serves snacks/beverages upon request Find owner location Obstacle avoidance mechanism Used in offices and at homes to save time
Transcript
RAMMBO the Robot ButlerRobert MorsonAngela UribeMelissa JansenMahdiMoghaddamzadehBianca RaginOur team (as stated above)Serves snacks/beverages upon request
  • Find owner location
  • Obstacle avoidance mechanism
  • Used in offices and at homes to save time
  • Served right to your desk, couch, beds, etc…
  • Project OverviewTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011LogisticsBianca RaginFunctional Gantt ChartTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Generation of motor driver signals
  • Motor modes complete
  • Forward and Backward to show control
  • PCB revision 1 done
  • Power system functional
  • Command transmitter debugging interface
  • Robot body structure built
  • Milestone 1 DeliverablesTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Looks pretty
  • Finalized body complete
  • Paddle sensors active
  • Optical encoder functioning
  • Obstacle maneuvering
  • Functional combination of blocks
  • Establish wireless communication
  • Comes on command
  • Milestone 2 DeliverablesTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Receive commands
  • Sends back status updates
  • Finds caller through remote vs. computer
  • Maneuvers easily through congested room
  • Design Expo DeliverablesTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011BiancaPower SystemsPrimary and auxiliary power designDocumentation and ScheduleCDR compilation.Schedule trackingHardwareFrame designMaterial researchMahdiWirelessCore circuit designPeripheral designCircuit constructionMicrocontrollerSoftware developmentAlgorithm developmentSoftware developmentSensingUltrasonicRobertMicrocontrollerLead software designAlgorithm designMovementCommand programmingTest DesignTest area designTest data collectionAngieMovementMotor mount designHardwareFrame constructionMaterial TestingPower SystemsPower researchMelissaSensingTactile SwitchesUltrasonicDocumentation and BudgetCDR compilation.Resource trackingTest DesignHardware test designTest data collectionDivision of LaborTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Monetary BudgetTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Power SystemsBianca Ragin9V Battery Pack no more
  • Lead Acid Battery
  • 12VDC
  • 41 Watts per Cell
  • 10.5 Amp. Hr.
  • 8lbs overall
  • Rechargeable
  • Nonspillable
  • Power UpTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Through hole
  • LM317
  • Voltage divider sets output voltage
  • Output Current = 1.5A
  • Needed Voltages:
  • 12V, 5V, 6.6V
  • Voltage RegulatorTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Pin vs. Pout
  • Motors – 9V
  • Microcontroller – 9V
  • Xbees – 3.3V
  • Motor Driver – 6V
  • Encoder – 6V
  • Power TestingUsing Voltage RegulatorsTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/20119V RegTo motorTo micro-controllerVin = 12V9VCC3.3V RegTo Xbee3.3VCC6V RegTo encoder To motor driver6VCCPower CircuitTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Board DesignMelissa JansenFunctional DecompositionLevel 0Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Functional DecompositionLevel 1Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Functional DecompositionLevel 2 - MotorTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Functional DecompositionInfrared SensorLevel 2 – Obstacle AvoidanceTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Functional DecompositionLevel 2 – Find CallerTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011SensingMelissa JansenObstacleAvoidanceInfraredTactileSwitchesObstacles
  • Single pole double throw
  • Short circuits when pressed
  • Very inexpensive
  • Simple to implement
  • Wall sensing
  • Transmitter & receiver next to each other
  • Very inexpensive
  • Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Ultrasonic
  • Need two units
  • Accurate within cm
  • Accuracy increases price
  • Not withinbudget
  • Transmitter on Remote
  • Two Receivers on Robot
  • Price within budget
  • Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Switches
  • Voltage
  • Interrupt
  • Infrared
  • Time delay
  • Interrupt
  • Sensor TestingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Ultrasonic
  • Voltage based on signal strength
  • Comparison of voltages from separate receivers
  • Algorithm for movement working withmotors
  • Sensor TestingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Programming and the MicrocontrollerRobert MorsonAtmega 2560
  • Direct subsystems control
  • Moving RAMMBO about
  • Atmega 328P
  • Wireless controller
  • Telling RAMMBO what to do
  • MicrocontrollersTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011WirelessData TransferSend Data BackCommand ReceiverMain2560 SoftwareTeam RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011Use Xbee
  • RS232
  • One-byte commands
  • Send back information
  • WirelessData Transfer
  • User Commands
  • 0x9: Come
  • 0xA: Go away
  • More for other functions
  • Testing commands
  • 0x0: Status
  • 0x1: Rotate Left
  • 0x2: Rotate Right
  • 0x3: Forward
  • 0x4: Stop
  • Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Wireless TransmissionLocation DetectorSend Data BackFind DirectionCommand ReceiverMain2560 SoftwareTeam RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011Use Ultrasonic Sensing
  • A-to-D
  • Signal Strength
  • Comparison
  • Location & Direction SensingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Wireless TransmissionLocation DetectorMovementSend Data BackMove ForwardFind DirectionCommand ReceiverRotateMainStop2560 SoftwareTeam RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011PWM
  • Motors
  • Square Wave
  • Set period, duty cycle
  • MovementTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Wireless TransmissionLocation DetectorMovementSend Data BackMove ForwardFind DirectionCommand ReceiverRotateMainStopObstacleHandlerCollision DetectorUser InteractionBlink Eyes2560 SoftwareTalkTeam RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011Robert has no idea what he is talking about!
  • Pre-Recorded Audio
  • MATLABfor PWM
  • TalkingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Wireless TransmissionLocation DetectorMovementSend Data BackMove ForwardFind DirectionCommand ReceiverRotateMainStopObstacleHandlerCollision DetectorUser InteractionBlink Eyes2560 SoftwareTalkTeam RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011Set Informative LEDsSend CommandMainAttend Response328P SoftwareTeam RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011LEDs
  • Various Voltage-Testing Equipment
  • Logic Analyzer
  • Verify RS232 transmission
  • Output numbers from registers / variables
  • TestingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Team RAMMBO Robert, Angie, Melissa, Mahdi,Bianca, Other 10/06/2011Motor ControlAngela UribeDC Motor
  • Two DC Motors 12 V Rated Voltage
  • Operating Voltage from 4.5V-12V
  • Max Current at 48mA
  • RPM at Max Voltage 415rmps
  • MotorsTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Wild Thumper Wheel
  • 120X60mm
  • Easily mountable
  • Shaft diameter 4mm
  • Tires/Castors
  • Carbon Steel Castor
  • Omni-directional
  • Ball material
  • One inch ball rotates
  • Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Hardware
  • GP2Y0D810Z0F
  • Operating range 2.7V-6.2V
  • Current pulled: 5mA
  • Digital voltage output
  • Distance sensor
  • 2cm-10cm
  • Optical EncodersTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Dual MC33887 Motor Driver
  • DC Motors Range 5V-28V
  • Used for Both Motors
  • Driver Chips
  • 2 Inputs CW/CCW and PWM
  • 2 Enable Pins
  • 2 Disable PWM inputs “Low”
  • Motor DriverTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011MC338877 Motor Diver ChipMotor Driver Schematic Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Hardware
  • Pulse Width Signal
  • Speed of Motor
  • Forward/Reverse
  • Supply Voltage of 4V-12V
  • Software
  • Set Speed
  • Set Direction
  • Enable
  • Motor Driver to Motor TestingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011CommunicationMahdi MoghaddamzadehTwo Xbees
  • RX, and TX ports for communication
  • Powering Xbees through Microcontrollers
  • Wireless CommunicationTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/20115 V from Atmega5 V Data OutputGround from Atmega5 V Data Input
  • 3.3 V to 5 V and vise versa
  • Voltage Level ShifterGround from Xbee3.3 V Data Output3.3 V Data Input3.3 V from XbeeTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/20111st stage: PC to PC
  • 2st stage: PC to Atmega
  • 3rd stage: Atmega to Atmega
  • Communication TestingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Setting up Xbee’s through X-CTU software1st stage: PC to PC
  • Communication through X-CTU terminals
  • Communication TestingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Send data through X-CTU terminal
  • Receive it through Xbee connected to the MicroC
  • Turn on an LED
  • 2st stage: PC to AtmegaCommunication TestingPC (X-CTU)XbeeAtmega2560Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Send data through Atmega328
  • Receive data through Atmega2560
  • Testing: two buttons/two LED’s
  • Then Vice Versa
  • 3rd stage: Atmega to Atmega (yet to be done)Communication TestingTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Risks/Solutions/Contingency PlansMahdiMoghaddamzadeh NO CANDY SHOOTING SYSTEM…Change of Plans
  • It’s REALLY difficult!!!!!!!!
  • !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
  • Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011Risks, Delays & Contingencies
  • Ultrasonic Sensors
  • Ability to sense the signal coming from owner
  • Path Finding
  • Most efficient algorithm
  • Controller failure
  • Interrupts and function calls not working properly
  • Motor driver implementation functional
  • Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011On schedule
  • Expectations
  • Expo objectives
  • RAMMBO is awesome.
  • ConclusionTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 10/06/2011NOT this Rambo!!!Questions?Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other10/06/2011Thanks 
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