P11216 – Wandering Ambassador (Part VI)

Customer: Stan RickelNick Leathe – Mechanical Engineer Anna Gilgur – Mechanical EngineerRui Zhou – Electrical EngineerKen Hertzog – Computer EngineerJoe Stevens – Software EngineerPhillip Gibson – Software EngineerDave Lander – Software Engineer

Goal: Debug and complete the Wandering

Ambassador robot for the Imagine RIT innovation festival.

Project Objectives: Develop autonomous software Complete upgrade to robot Find and repair bugs

Project Description:

Inherited Design

Safety• Chain guards• Emergency stop

buttons• Bumper System

Enclosure• Transparent &

water resistant electronics box

Transport• Collapsible handle• Drivetrain disengagement

Modularity• Fully modular bolted

connection architecture

Sensor Suite• Sonar• Infrared• Bump• Photodiode• GPS• Accelerometer• Moisture sensor• Temperature• Motor Encoders

Electronics ArchitectureBeagleboard

Computer

Motor Control Microcontroller

Motors

Shaft Encoders

Plant Care Microcontroller

Water Pump

Moisture

Photo diode

Temperature

Navigation Microcontroller

Compass

Accelerometer

High Level Control / Decision MakingInput / Command Interpretation

Input / Output Devices

Navigation System Successful detection and avoidance of

objects in a 5 foot range

Integrates: Servos Sonars Bump

Sensor

Completed Improvements: Sprayer Nozzles Sonar Vision Increased More Plants Software Upgrade

Project Status Design Meets Customer Needs Mechanical Systems

Completed on schedule Electrical Systems

4-5 weeks behind schedule Software Package

Delayed due to Electrical setbacks “Apathetic Wanderer” completed for

ImagineRIT Overall Cost: $500 under budget

Future Work Complete electrical systems to allow for

full integration of attached features Further development of personality

modules Creation of outdoor home as a shelter for

fully autonomous wandering Social networking integration to raise

awareness of self-sustaining energy Complete thorough testing of features to

prove robustness of design

Questions?