Niket Sheth
Chris Karman
Erik Scherbenske
Peter van der Hoop
Purpose
 An easy-to-use robot to craft beautiful and large scale
art.
 Enjoyable for kids and adults alike.
 Applicable to artists and handicapped users.
 To get RICH!
Objectives
 Build a robot to reproduce shapes, text or follow user
input paths.
 Robot will use markers or paint to create drawings on
the floor.
 Scalable drawings depending on floor size.
Feasibility
 Two main systems
 Autonomous robot to move forward, back, rotate left
and right
 Drawing reproduction
Movement
 Previously done in Capstone projects
 Matter of writing controls for the stepper motors
 Challenges:
 Accuracy
 Speed
 Power
Drawing
 Simple On/Off for marker/paint control using
servos/actuators
 Microcontroller to provide the path to create the art.
 Multiple color control
Outline
CPU
 Universal Sub-System Controller
 Convert and output data to sub-systems


Motor Controller
Marker Controller
 Convert and receive data from sub-systems


UI
Sensor Controller
Convert and Transmit
 Transmit signals to motor controller for
movement(forward, backward, rotate left/right)
 Output a signal line for marker (up/down)
 Color selector signal (if time permits)
Receive and Convert
 Receive path from user interface
 Convert user input to step by step directions for motor
controller
 Receive interrupts from sensor controllers and
generate alternative path or stop
 Monitor signal from the power management system
(turn systems on and off)
User Interface
 Tethered Control using:
 Joystick
 Keyboard
 Pre-Encoded Instructions
 Touchpad
 Wireless control should eventually replace tethered
line
Sensor Controls
 Collision Detection
 Bumpers that detect collision and send data to CPU
 Infrared that detect objects in path before collision
 Boundary Detection
 Detect predefined physical boundary

Infrared (black line surrounding “canvas”)
 Software boundary

Max distance allowed for travel from initial starting point
 Turn OFF or correct motion when the sensors detects a
problem.
Motor Control
 Stepper Motors
 Require high current for functionality (2 A)
 Holding current even when not moving
 Specific degree of movement (1.8 deg/pulse)
 Controlled by square waves
 Waves generated by Motor Microcontroller
 Speed determined by frequency
 Distance determined by signal length (number of
pulses)
Marker Control
 Controls motion (up/down) of marker
 Sends data to servo based on the signal from controller
 Potential color change capabilities
 Challenge
 Mechanical Design
Power Management
 Power Control Board
 Provide different voltages to various microcontrollers
 Isolation circuit for providing current to motor-Separate
battery may be a solution
 Power monitoring and reporting
 Conservation of power by shutting down components
not being used
 Rechargeable
Division of Labor
Task
Peter
Erik
X
X
Niket
Chris
X
X
Mechanical
Chassis/Mounts
Electrical
Input Controls
Motor Controls
X
CPU/Power
Management
X
Marker/Sensors
X
X
X
X
Software
CPU
X
X
UI Software
X
X
X
X
X
X
Integration
X
X
Manufacturing
X
X
Testing
X
X
X
X
Documentation
X
X
X
X
Schedule
Budget
Risks
 Signal/Power Noise
 Motor Accuracy
 Loose Contacts between wheel and ground
 Inaccurate stepping by motor
 Power management surges and spikes
 Lose communication with robot
 Range
 Loose wiring
 Uncertainty in learning curve
 Uncertainty in parts availability and delivery
 Unfamiliar technology
Recovery
 Noise – Isolation of batteries of motor ctrl and signals
 Accuracy – feedback sensor and PID control
 Power – Fuses for managing harmful spikes
 Loss in Communication – Turn OFF and reset
 Uncertainty – Plan Ahead and adapt
QUESTIONS????