April 30th, 2010

Freedom Innovation Research

Topics CoveredIntroductionSystem OverviewProject BudgetTimelineFuture DevelopmentQuestion and Answers

Team Members

Steven ChoiKenta YuanRichard Zhang

John OgawaJason Tsai

Hardware and Drivers

Client Side Software/Testing

Motivation14% of Canadian population has some

form of disabilityHalf of reported disabilities are mobility

restrictionsDifficulty taking a book or cup from a

distant tableAutomated system can improve quality of

life

Product: Retriever 247

Robot ArmItem

Identify

ControlUnits

Drive Syste

m

Top

Center

Base

System OverviewWhat it’s made of?

System OverviewProject Conceptual Model

System OverviewClient and Server Communication

Hardware OverviewLifting Platform

Hardware OverviewRobotic Arm

Hardware OverviewLine Sensor

Hardware OverviewUltrasonic Distance Sensor

Software OverviewDriver and real-time programming

MultithreadServer and client create wireless channel for

communicationVideo streaming server

GUIVisual C++ and .NET Framework

Project BudgetFunding: ESSEF: $ 800Wighton(applied)

Total Spending:$1692.6

Component CostController and Driving System  DC, Servo, motor coupler and connector 321.11Wheels 49.47Central Controller 400.38Sensors  Reflectance Sensor Array 76.44Utrasonic Range Sensor 40.45Compass Module 70.13RFID module 89.99Accelerometer 20.67Current Sensor 15Mechanical  Base and Arm material 214.68Power  H Bridge 10Power components (battery, regulator, relay) 97.5Protection Fuses 8.54Miscellaneous  Electronic Components 116.3Wireless Router 50Shipping Total 62.11Tax 49.85Total Cost 1692.6

Timeline

Future DevelopmentMore sophisticated Robotic ArmMap generationWebcam position ControlReduce robot weightImage processingSelf located without lines on floor

Courses that helped us ENSC 489 – Computer aid design and manufacturing ENSC 483 – Modern control system ENSC 425, ENSC 325, ENSC225 – Analog circuits, buck convertor, non-ideal

op-amp ENSC 387 – Sensors and Actuators ENSC383 – Feedback control system ENSC 351 – Real-time embedded System ENSC 330 – Engineering materials ENSC 320 – Filters ENSC 304 – Usability engineering ENSC 250 – Logic gates ENSC 230 – introduction to mechanical design ENSC 220 – Electric circuits CMPT 225 – Data structure CMPT 128 – C++ object orientated programming And most importantly, engineering co-op experiences

Final RemarksOverall System:Managed to meet the major functional

specificationFully automated algorithm requires more

optimizationAutomatic Map Generation is still under

integration

What we learned:Communication and Team workMeeting deadlinesWork with limited facility and budget

Demoand

Questions

ASB is my home.