A Beacon-Sensing, Path Finding Robot
Operating in a Crowded Environment
JEEVES the Robot Butler
Team JEEVES
Daniel Steffy, Alissa Halvorson, Bogdan Pisica,
Christopher Pearson, Hameed Ebadi
Project Objectives
• Create a Robot System that:
▫ Carries Beverage From Vendor to User
▫ Detects Direction of Beacon Signal
▫ Dynamic Path Finding Based on Ultra-Sonic
Sensors
▫ Detects When To Stop
▫ Able to Return to Base Station
Bogdan Pisica
Project Purpose
• Possibilities for Nursing Homes or Hospitals.
▫ Base Station with multiple robots delivering meds,
food, etc. to patients
• People with disabilities
• Convenience
Bogdan Pisica
Achievable Goals
•
•
•
•
•
•
Implementation of the Robotic Chassis
Detection of Feedback on Robotic Motors
Robot Is Able To Move From Point A to Point B
Sonar Object Detection
Beacon Initiates Robotic Movement
Capable of Carrying a Beverage
Bogdan Pisica
Medium Level Goals
•
•
•
•
Robot Able to Detect Direction of Beacon
Dynamic Object Avoidance
Calibration of Wheels Based on Feedback
Returns to Point A
Bogdan Pisica
High Level Goals
• Beverage Dispenser That Contains Multiple
Options
• Beacon Allows for Multiple Selections
• Multiple Users
Bogdan Pisica
Details of Design
Details of Design
•Three Separate Pieces
• Robot, Base Station, Remote
• Majority of the Processing Power will be
in the Robot
• Remote and Base Station both Transmit
Daniel Steffy
Robot Design
• State Machine in Microcontroller
• Different Batteries for Motors,
Sensors and Microcontroller
• Sensors:
• Beverage Presence Monitor
(BPM)
• RFID Reader
• Directional Antennae
• Ultra-Sonic Sensors
Daniel Steffy
State Machine
Daniel Steffy
Remote Design
• User Interface
• Unique RF ID tag
• Communications with Base
Station (XBee)
• RF Transmitter Beacon
• Logic Interfaces with Modules
Daniel Steffy
Base Station Design
Daniel Steffy
Motors
• Stepper Motor
Precise
No calibration needed
Hameed Ebadi
• Reluctance Motor
 High Power Density
 Feed back system
needed
 Magnetic Reluctance
[resistance]
Microprocessor
• MSP 430 F2616X
• Low Supply Voltage Range 1.8 V
to 3.6 V
• 16-Bit RISC Architecture
• 64 I/O pins
• 12 A/D and 12 D/A Convertor
Pins
Hameed Ebadi
Antenna
Wave Properties to worry about
• Transmission (use high frequencies to avoid)
• Refraction
• Reflection
• Absorption
• Diffraction
Hameed Ebadi
Xbee Wireless Comm
 Signal Strength Detection
 Possible Design Ideas
• Multiple Xbee
• Rotation
Chris Pearson
Ultrasonic Sensor
• PING (Ultrasonic Sensor)
• Precise, non-contact
distance measurement from
2 cm to 3 m.
• 20 mA, 5 VDC
• Narrow Acceptance Angle
• Multiple Sensors
Chris Pearson
Power
• Motorcycle battery for robot main power
• 9v for remote beacon
• Wall wart for base station
Chris Pearson
Division of Labor
Task
Alissa
Bogdan
Chris
Danny
X
X
X
X
X
X
Hameed
Electrical
Controls
Sensors
Comm
PCB
Power
X
X
X
X
X
X
Software
Path
Finding
State
Machine
Device
Interfacing
Debugging
motors
wheels
antenna
chassis
X
X
X
X
X
X
Integration
Testing
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Mechanical
X
X
System
Documenta
tion
Alissa Halvorson
Schedule
Alissa Halvorson
Budget
Part
Description
Price ($)
Comm System
Xbee Series 1
75
Micro-Controller System
MSP430
150
Antenna
20
Motor System
200
Batteries/Power
Motorcycle/9v/Wall
100
Sonic Sensors
PING)))
120
RFID System
100
PCB
105
Mechanical
Wheels/Chassis
150
Printing
Expo Docs
150
Misc
200
TOTAL
1370
Alissa Halvorson
Funding
•
•
•
•
UROP
Team Members
Donations
Scavenging
Alissa Halvorson
Risks and Contingency Plans
• Ultra-sonic sensors
don't work or too
much interference
▫ Use bump sensors
• Run out of time or
money
▫ Reduce
features/capability
• Mechanical issues
• Failure to detect
beacon signal direction ▫ Enlist mechanical
▫ Use IR "line of sight"
sensors
Alissa Halvorson
major's help
Questions?