the batmobile and centrifuge november 11, 2011. members (from left to right): rachel bevill, brae...
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The Batmobile and Centrifuge
November 11, 2011
(BC)² ECE FINAL REPORT
MEET (BC)² (GROUP #3)
Members (from left to right): Rachel Bevill, Brae Bower, Samantha Cherbonneau, Professor Ahmadi, Anthony Contreras
MORE ABOUT (BC)²Samantha
CherbonneauBiomedical Engineering
Brunswick, ME
Rachel Bevill
Biomedical EngineeringMerrimack,
NH
Brae BowerBiomedical Engineering
Baltimore, MD
Anthony Contreras
Biomedical EngineeringChaparral,
NM
• Design a robot that will move along a specific path, guided by rear wheels and front sensors
• Implement a program that codes for the forward movement of the robot along a black curved line, the execution of a U-turn at the end of the line, following the path back to the start
PROJECT OBJECTIVE
2m
2m
2m
2m
2m 2m
2m 2m
Start
Finish
THE BATMOBILE
http://www.entertainmentearth.com/hitlist.asp?theme=batman
• ECE class webpage (design and sample coding)• Marjan (GTA) and Professor Ahmadi• Parts
-2 front wheel rims without rubber- 4 back wheels with rubber- 1 front axel, 1 back axel- handyboard- 2 analog light sensors- 2 motors- Lego body
RESOURCES FOR THE BATMOBILE DESIGN
• Original• Avoid extra weight• Minimal LEGOs used• Small holes in the body of the robot
CHOOSING THE BATMOBILE DESIGN
• Rear-wheel driven• Handyboard directly over rear axel• Body built around the handyboard• Robot not perfectly parallel to the ground
CHOOSING THE BATMOBILE DESIGN CONTINUED
void main(){ int sensor3 = analog(3); int sensor4 = analog(4); int I=0; while (start_button()==0); while (I<2) //repeat until I is
less than two { sensor3 = analog(3); sensor4 = analog(4); printf("\n L: %d, R: %d", sensor3, sensor4);if (sensor3<200 && sensor4<200) //both sensors are
on white { printf ("\n F"); motor(1,20); motor(3,20);} else if (sensor3<200 && sensor4>200) //if sensor 3 on
white and sensor 4 on black then turn right {printf ("\n right"); ao();
motor (1,60); motor(3,-30);} else if (sensor3>200 && sensor4<200) //if sensor 4 on white
and sensor 3 on black then turn left {printf ("\n left"); ao(); motor (1,-30); motor (3,60);} else if (sensor3>200 && sensor4>200) //if both on black do
a u-turn {ao(); motor(1,60); motor(3,-60); sleep(.68); I++;} //add to I count once completed } ao(); //once count has reached 2 turn all
motors off}
PROGRAM CODE FOR THE BATMOBILE
https://mail-attachment.googleusercontent.com/attachment?ui=2&ik=b8b8cc5616&view=att&th=13393290b8f78130&attid=0.1&disp=safe&zw&saduie=AG9B_P9LYep2Zv6WwI0V2KiBZcdD&sadet=1321023940285&sads=clssNCwYI-3qbwj6sytgJTrmTn8
THE BATMOBILE IN ACTION
MEMBER RESPONSIBILITIES
http://www.botball.org/ic
http://www.granthamilton.biz/construction_programmes.htm
Brae B., Samantha C. Rachael B., Samantha C., Anthony C.
• Build the robot- General body- Axels and wheels (adjustments)
• Program Coding (adjustments)
ORDER OF THE BATMOBILE’S DEVELOPMENT
• Handyboard (ports, sensors, motors)• Program Coding• Miscommunication• Teamwork
CHALLENGES WITH THE BATMOBILE
• Batmobile’s design• Batmobile’s speed
SUCCESSES WITH THE BATMOBILE
BIOMEDICAL EXPERIMENT: CENTRIFUGE
• Machine• Uses centrifugal force (forces moving outward
from a central origin) in accelerated form • Separate substances (densities, removing
moisture, gravitational effects)• Uses
-Remove elements from blood for cell-free plasma or serum analysis-Separating liquid components, protein-bound or antibody bound molecules
BACKGROUND ON CENTRIFUGE
• Components- rotor-drive shaft and motor-centrifuge chamber-power switch-time, speed control, brake-protective shield
BACKGROUND ON CENTRIFUGE CONTINUED
RELATIVE CENTRIFUGAL FORCE (RCF)=(1.118 x 10^-5) x (r) x (n²)
• Based upon previous centrifuge design• Several gears• Simple swing design• Stability
EXPERIMENTAL SETUP
void main(){ int speed = 0; float separation_time=1.0; float ramp_time=0.5; while (start_button()== 0) {printf("\nPress start to begin");} while (start_button() == 1) { while(1) {sleep(3.0); printf("\n mixed value=%d", analog(6)); {motor(3,40);//ramping up sleep(2.0); motor(3,60); sleep(2.0); motor(3,80); //ramped up sleep(2.0); motor(3,100); //full speed sleep(12.0); motor(3,80); //ramping down
sleep(2.0); motor(3,60); sleep(2.0); motor(3,40); sleep(2.0); motor(3,0); sleep(9.0);} //ramped down
ao();while (1)
{sleep(3.0);printf(“\n water value=%d”, analog (6));}while (1){sleep(3.0);printf(“\n oil value=%d, analog(6));} } }}
CENTRIFUGE PROGRAM CODING
CENTRIFUGE PROGRAM CODING
Trial # Sensor Reading (before separation)
Sensor Reading (after separation)
Ramp UP Time
(s)
Time to Separate
(s)
Ramp DOWN Time
(s)OIL WATER
1 162 170 209 6 12 10
2 152 190 143 6 12 11
3 145 183 136 6 12 11
4 163 157 131 6 12 9
5 155 175 120 6 12 10
Base Reading Values: Water-127 ; Oil-180; Mix-157
• Compose a code program through Interactive C• Trial and error• Check program coding• Communication• Teamwork Improvement• Speed Adjustment• More accurate timing of the U-turn
CONCLUSIONS
• Marjan Nabili• Professor Ahmadi
ACKNOWLEDGEMENTS