Robert Moroson
Angela Uribe
Melissa Jansen
Mahdi Moghaddamzadeh
Bianca Ragin
Our team (as stated above)
Serves snacks/beverages
upon request
Find owner location
Obstacle avoidance
mechanism
CANDY SHOOTER!!!
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
 Useful for disabilities limiting
ability to walk
 Used in offices and at homes to
save time
 Separate refrigerator unit to
load RAMMBO
 Served right to your desk,
couch, beds, etc…
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Low



Able to navigate itself
Find signal coming from owner
Move towards signal
Med


Recognize and avoid obstacles
Receive vocal commands

In form of claps
High

Team RAMMBO
Able to carry and shoot
candies on command
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Functional
Outline .
Sending
Commands
Wireless
Transmitter
Microprocessor
Team RAMMBO
Wireless
Receiver
Voltage
Amplifier
Robert, Angie, Melissa, Mahdi, Bianca, Other
Powering
Motors
9/06/2011
Object sensing system
Powerful RF transmitter
and receiver
Efficient program for path
finding/rerouting
Cost
Candy shooting system
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Xbee 1mW “Series 1” boards
Range = 300 feet
USB programmable
3.3 V’s, 50 mA
250 Kbps data rate
128 bit encryption
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Control
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Control
Wheel
Control
Wireless
Communication
Position Sensing
Sensors
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
User
Control
Testing commands





0x0: Status
0x1: Rotate Left
0x2: Rotate Right
0x3: Forward
Code
0
User Commands
0x4: Stop
1
2
Team RAMMBO
Command
3
4
5
6
7

0x9: Come

0xA: Go away

More for other
functions
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Arrival
MazeRunning
Algorithm
User
Control
SoundRecognition
Await
Command
Command
Goal
Locator
Select
Direction
No
Command
Obstacle
Detector
Interrupt
Go
Forward
Software Flow
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Sensing
Sensing
Obstacle
Avoidance
Infrared
Team RAMMBO
Pressure
Find
Caller
Ultrasonic
GPS
Robert, Angie, Melissa, Mahdi, Bianca, Other
Ultrasonic
9/06/2011
Obstacle
Avoidanc
e
Infrared
Ultrasonic
Distance
Cliff Sensing
Sensing from 3cm
Wall Sensing
to 30cm
Transmitter &
More expensive
Receiver next to
than Infrared
each other
Very Inexpensive
Team RAMMBO
Pressure
Single Pole Single
Throw
Short Circuits when
Pressed
Very Inexpensive
Simple to Implement
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Find
Caller
GPS
Ultrasonic
 Need two

 Remote
 Robot

 Accurate within cm
 Accuracy increases 
price
 Not within our budget
Team RAMMBO
Transmitter on
Remote
One or Two
Receivers on Robot
Price within our
budget
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Motors
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Northern Pneumatic
Wheels
Team RAMMBO

8" Tires

Non-marking Tires

250lbs Capacity
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Size: 0.48" diameter
Single chip sensing
technology
-40°C to 125°C operating
temp
10-bit Analog output

2.6 kHz sampling rate
10-bit PWM output

Team RAMMBO
1024 positions per revolution
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011






Chip protects logic chips
Isolate electrical noise
Prevents short-circuits
Diodes give voltage protection
Capacitors reduce electrical noise
and provide peak power
Pull-up resistors prevent motor
movement during power up/down
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Physical Design
1st : Bianca
2nd : Angie
Wireless
1st : Mahdi
2nd : Melissa
Budget/Schedule
1st: Melissa
2nd: Bianca
Sensing
1st : Melissa
2nd : Mahdi
Division
of Labor
Power
1st :Bianca
2nd : Angie
Movement
1st : Angie
2nd : Robert
Microcontroller
1st : Robert
2nd : Mahdi
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
By CDR:
By PDR:




Team RAMMBO

Finish core
and peripheral
circuit design
Initial version
of users
 First revision
manual written of prototype
Create core  Software
circuit design
implementation
Fill out UROP
funding form

Finalize body
design
Order parts
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Schedule
Milestone 1
Milestone 2
Motor and power
systems functional

Move through
instantaneous input
Command
completed
Team RAMMBO
maneuvering
Establish
wireless
communication
transmitter good for
debugging
Programming
Obstacle

Comes on
command
Looks pretty

Full body built
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Functional Gantt Chart
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Item
Purpose
XBee 1mW
Wireless Comm
Chip (2)
XBee Explorer
Development Board
USB (2)
Actual
Atmel
Microcontroller
Movement
Wheels (4)
Movement
Motors (4)
Motor Control
Encoders (4)
Cost
(Est.)
$50
$50
$10
$60
$355
$160
Tax/Shipping ------------------------- $50
Total
Team RAMMBO
$735
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011
Team RAMMBO
Robert, Angie, Melissa, Mahdi, Bianca, Other
9/06/2011