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