jullienor titas das eel 5666 – imdl fall 2014 12/2/2014
TRANSCRIPT
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JULLIENOR
TITAS DAS
EEL 5666 – IMDL FALL 2014
12/2/2014
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AGENDA
• Mission
• Robot Overview
• Mobile platform
• Hardware
• Software
• Behaviors
• Timeline
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MISSION
• Jullienor is meant to save your time in the kitchen when it comes to cutting vegetables or fruits for various dishes.
• It will also be able to prevent hazards from occurring in the kitchen as people don’t have to deal with knives anymore.
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ROBOT OVERVIEW
• It has a two wheel drive with a castor wheel at the back. A castor in the front for balancing the robot.
• A cutting system which lowers itself over a vegetable and cuts it.
• Uses the nexus 5’s inbuilt 8 megapixel camera as its source of vision.
• Exhibits obstacle avoidance and is a table top robot.
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MOBILE PLATFORM
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HARDWARE
Arduino Mega 2560
Motor Driver Shield
(Arduino Motor Shield or Dual MC
33926)
Ni-Mh 9.6V(LiPo 11.1V)
Nexus 5
Wheel 1 Wheel 2
IR
Sonar
Motor Driver Single carrier
MC 33926
Cutting Mechanism
Audio-Serial Interface
Board
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INTEGRATED CIRCUIT
• The audio-serial interface board was soldered based on the schematic shown below.
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SOFTWARE
Arduino IDE
Eclipse Juno Android SDK & ADK
OpenCV
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BEHAVIORS
• It will have obstacle avoidance based on sonar input. The obstacle has to be outside the pink board used for cutting vegetables.
• Object recognition based on background subtraction and color detection. Where the vegetables are kept on a pink cutting board. X and Y co-ordinates sent to Arduino.
• Will be able to cut the vegetables using it’s unique cutting system. Motor’s encoders are used to make sure it doesn’t cut the board.
• Will also have an “end of the world” sensor system to prevent the robot from falling off the table using IR sensors.
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LESSONS LEARNT
• Android programming
• Opencv integration
• Solidworks design
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QUESTIONS