2013 IEEE Region 5
Robotics Competition
F12-24-EEE2
Submitted By:
Team Members
Nathan Baldwin
Michael Dean
Michael Peerboom
Alex Watson [PM]
CpE
EE
EE
EE
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Transmittal Letter [AW]
November 1, 2012
Saluki Engineering Company
Southern Illinois University
College of Engineering – Mailcode 6603
Carbondale, IL 62901-6604
alex.watson@siu.edu
Dr. Ning Weng
Department of Electrical and Computer Engineering
Southern Illinois University
Carbondale, IL 6290-6604
(618) 453 – 7031
Dear Dr. Weng,
On September 11, 2012, you allowed our group the opportunity to bid on the design of the
2013 IEEE Robotics Competition robot. It is an honor to be provided the opportunity to bid
on this project and we feel that this proposal will completely explain the scope of work,
entities to be created, budget, and all documentation needed.
The premise of this year’s robotics competition is to design a robot that will simulate
entering a recently fire-damaged forest and collect soil samples in order to determine if
human intervention is needed to rehabilitate the forest. The robot must navigate a course
made of various obstacles and collect “soil samples” in the form of disks placed at points
specified before the start of each round in the fastest time.
The robot’s design will be based upon accuracy, speed, and efficiency. The goal of our
project is to build a robot that will win the robotics competition. To do that we will build a
robot that can successfully navigate the course and collect all the soil samples in the fastest
possible time.
My team looks forward to working with you in the future, and appreciates your allowing us
to bid on this project.
Sincerely,
Alex Watson
Project Manager, IEEE Robotics Design
Saluki Engineering Company
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Executive Summary [AW]
The Saluki Engineering Company (SEC) group #F12-24 proposes to build a robot to
compete in the 2013 IEEE Region 5 Robotics Competition in Denver, Colorado on April 6,
2013. The competition rules state that the robot must be completely autonomous and selfcontained. The robot must be capable of reading from a USB drive or SD card, have
dimensions of 1’x1’x1’ at the start and end of the round, considered generally safe by
competition judges, weigh under 50 pounds, and contain an easily accessible start/stop
button. The robot must navigate a course filled with various obstacles representing
boulders, standing trees, and downed trees and must be capable of collecting and storing
up to six (6) simulated “soil samples,” represented by plastic disks, placed throughout the
course in positions determined before each round.
In order to become a high level competitor, our job is to design a robot that is capable of
successfully collecting all disks in the quickest possible time. To do this we must design and
perfect the two most important systems of the robot: the navigation and collection systems.
The most challenging system is the navigation of the robot as it must be able to determine,
in real time, the quickest and most efficient path to each pick-up location. It must also
contain sensing solutions for the navigation and obstacle detection. Along with this we
must develop a precise and efficient disk collection system. This system must be faulttolerant and able to quickly mobilize once the robot is in position to collect a disk.
While navigation and retrieval are two important systems of the robot there are also many
other systems that must be considered. Firstly, the robot must meet weight requirements
but more importantly be capable of moving about the course without trouble. To do this we
will implement an agile and lightweight frame design.
Cost of the project is another important issue that must be addressed. While our group
strives to use the best parts available on the market we have also taken price into
consideration. We have tried to develop a parts list that will allow for a winning robot
while also being cost effective. The initial parts for the robot are valued at $481.37.
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Non-Disclosure Statement
The information provided in or for this proposal is the confidential, proprietary property of
the Saluki Engineering Company of Carbondale, Illinois, USA. Such information may be used
solely by the party to whom this proposal has been submitted by Saluki Engineering
Company and solely for the purpose of evaluating this proposal. The submittal of this
proposal confers no right in, or license to use, or right to disclose to others for any purpose,
the subject matter, or such information and data, nor confers the right to reproduce, or
offer such information for sale. All drawings, specifications, and other writings supplied
with this proposal are to be returned to Saluki Engineering Company promptly upon
request. The use of this information, other than for the purpose of evaluating this proposal,
is subject to the terms of an agreement under which services are to be performed pursuant
to this proposal.
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Table of Contents
Transmittal Letter [AW] ..................................................................................................................................... 1
Executive Summary [AW] .................................................................................................................................. 2
Non-Disclosure Statement ................................................................................................................................. 3
Frame (AW) ........................................................................................................................................................ 6
Motors (AW)....................................................................................................................................................... 7
DC Continuous Motor (AW) ..................................................................................................................... 8
Stepper Motor (AW) ................................................................................................................................ 10
Motor Controllers (MP) .............................................................................................................................. 10
Sensors (MD)................................................................................................................................................... 11
Pressure Sensors (MD) ........................................................................................................................... 11
Magnetometers (MD) .............................................................................................................................. 11
Color Sensors (MD) .................................................................................................................................. 12
Ultrasonic Distance Sensors (MD) ..................................................................................................... 13
Optical Encoders (MD) ........................................................................................................................... 13
Processing (MP) ............................................................................................................................................. 13
Wheels (NB) .................................................................................................................................................... 14
Lifting Devices (NB) ..................................................................................................................................... 15
Basis of Design [NB] .......................................................................................................................................... 16
Project Description [AW] ................................................................................................................................ 16
Subsystem Description [ALL] ........................................................................................................................ 18
Master Processing Subsystem [MD] ...................................................................................................... 18
Slave Processing Subsystem [MP] .......................................................................................................... 19
Pan/Tilt Subsystem [AW] .......................................................................................................................... 21
Lift Subsystem [NB] ...................................................................................................................................... 21
Drive Subsystem [AW] ................................................................................................................................ 22
Power Subsystem [NB] ............................................................................................................................... 23
Frame Subsystem [AW] .............................................................................................................................. 24
Scope of Work [MD] .......................................................................................................................................... 26
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Validity Statement ............................................................................................................................................. 27
Cost Analysis [AW] ............................................................................................................................................ 28
Project Organization Chart [MP] .................................................................................................................. 29
Action Item List [AW] ....................................................................................................................................... 30
Team Timeline [MD] ......................................................................................................................................... 31
References ............................................................................................................................................................ 32
Appendix A: Team Resumes [NB] ................................................................................................................ 37
Appendix B: 2013 Region 5 Robotics Competition Rules [NB] ........................................................ 42
Table of Visuals
Figures
Figure 1 - Physics Representation of Wheel on Incline Plane ............................................................. 9
Figure 2 - Wheel vs. Obstacle Size ............................................................................................................... 15
Figure 3 - Team 24 Block Diagram .............................................................................................................. 17
Figure 4 - VEX Robotics C-Channel [56] .................................................................................................... 25
Tables
Table 1 - Frame Components Comparison ................................................................................................. 6
Table 2 - RC Motors Comparison .................................................................................................................... 8
Table 3 - DC Motor Gear Efficiency’s ............................................................................................................. 9
Table 4 – Stepper Motors Comparison ...................................................................................................... 10
Table 5 - Pressure Sensors Comparison.................................................................................................... 11
Table 6 - Magnetometers Comparison....................................................................................................... 12
Table 7 - Color Sensors Comparison........................................................................................................... 12
Table 8 - Ultrasonic Distance Sensors Comparison .............................................................................. 13
Table 9 - Optical Encoders Comparison .................................................................................................... 13
Table 10 - Processor Comparison................................................................................................................ 14
Table 11 - Wheel Comparisons ..................................................................................................................... 14
Table 12 - Comparison of Lifting Devices ................................................................................................. 16
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Literature Review [All]
Determining the level of human intervention needed to assist in revegetation after a forest
fire is a difficult task. Forest fires are a natural occurrence and many times no human
intervention is required. Other times the fire is so severe that, in order to recover, the
forest will need human assistance. The objective of the 2013 IEEE Region 5 robotics
competition is to simulate a forest that has been subject to a forest fire. The task of the
competing robots is to collect “soil samples,” consisting of plastic disks, from an obstacle
course resembling a scale burnt forest. Soil samples are to be collected because they are
one of the best ways to determine whether or not human intervention is needed.
Frame [AW]
According to the 2013 IEEE Region 5 Annual Meeting Robotics Rules Rev1, the limitations
on the robot’s frame design are as follows:
3. The maximum dimensions of the robot are 1’x1’x1’ high. The robot in its entirety should fit
within this bounding box at the start and end of the competition. However the robot may
exceed these dimensions during the round as long as the robot returns to these dimensions
upon completion. The round will not be considered complete until the robot returns to the
original 1’x1’x1’ dimensions [1].
4. Entries must be generally safe in the opinion of the judges. The possibility of the robot
causing harm to persons or property will be the deciding factor. This precludes the storage
of flammable gases of liquids. Batteries should be enclosed in a way that will not present
any danger to the operator or playing field [1].
5. Robots may not exceed a generous weight limit of 50 pounds [1].
When it comes to building the frame for the robot there are many different material
choices. A comparison of available materials on the market can be found in Table 1.
Table 1 - Frame Components Comparison [2]
Component
Cost
Wood
Molded Plastic
Metal
Composite
Low
High
Moderate
Low
Workability
Easy
Moderately
Easy
Easy
Weight
Light
Light
Moderate
Light
Level of
Rigidness
Low
Moderate
High
Low
The frame should be minimalistic allowing for weight reduction and space maximization.
To allow for these characteristics the material used for the frame must be extremely rigid
and lightweight as possible all while staying on budget. A comparison of many common
materials used in robot frame construction was made comparing cost, workability, weight,
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and level of rigidness. Last year’s team built their IEEE robot from sheet aluminum due to
its high strength and moderate to light weight. This allowed them to design a strong frame
while keeping the robot agile. While their frame was minimalistic they faulted in using
material with thicknesses larger than what was required in areas that were not supporting
weight or key mounting positions [3].
Motors [AW]
Many factors must be considered when choosing a motor such as weight, size, gearing ratio,
torque, rpm, voltage, power consumption, and terrain the robot will encounter. There are
three common motor types used in robotics. These are DC motors, Stepper motors, and
Servos. Those that will be used on the robot will be the continuous DC and stepper. A
comparison of commonly used motors in robotics can be found in Table 2
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Table 2 - RC Motors Comparison [4]
Motor Type


Continuous DC



Stepper



Servo

Pros
Wide selection available, both
new and used.
Easy to control via computer with
relays or electronic switches.
With gearbox, larger DC motors
can power a 200 pound robot.


Does not require gear reduction
to power at low speeds.
Low cost when purchased on the
surplus market.
Dynamic braking effect achieved
by leaving coils of stepper motor
energized (motor will not turn,
but will lock in place).

Least expensive non-surplus
source for gear motors.
Can be used for precise angular
control, or for continuous
rotation (the latter requires
modification).
Available in several standard
sizes, with standard mounting
holes.





Cons
Requires gear reduction to
provide torques needed
for most robotic
applications.
Poor standards in sizing
and mounting
arrangements.
Poor performance under
varying loads. Not great
for robot locomotion over
uneven surfaces.
Consumes high current.
Needs special driving
circuit to provide stepping
rotation.
Requires modification for
continuous rotation.
Requires special driving
circuit.
Though more powerful
servos are available,
practical weight limit for
powering a robot is about
10 pounds.
DC Continuous Motor [AW]
Due to their ease of use, high torque, speed, and continuous drive this type of motor is
optimal for a drive system’s motor [5]. The most common of these motors is the geared DC
motor, and it can come in many shapes and sizes. First calculations must be made in order
to determine torque needed by a DC motor.
It must be understood that calculations are made in relation to the robot moving up an
incline plane to give the best results. Calculating to this factor ensures your robot will
encounter no problems. Fig. 1 [6] shows the wheel to ground relation of an incline plane.
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Figure 1 - Physics Representation of Wheel on Incline Plane
From this it can be concluded the equation for torque (T) needed [6].
𝑇= (
100
(𝑎+𝑔∗sin(𝜃))∗𝑀∗𝑅
𝑒
𝑁
)∗
(1)
Taking into account efficiency (e) in the motor, acceleration (a), gravity (g), mass (M), the
displacement vector (R), and the number of wheels (N). Now the total power (P) per
motor can be calculated using the following relation [5]:
𝑃=𝑇∗ 𝜔
(2)
T is known from the above equation and the angular velocity (w) is determined by the
needs of the robot. Now the calculations for current (I) and capacity (c) of battery pack can
be made [5].
𝐼=
𝑇∗𝜔
(3)
𝑉
(4)
𝑐 =𝐼∗𝑇
It is also important to consider the type of gears used in the DC motor. The gear type can
determine efficiency and also cost of the motors. This can be seen in Table 3. When
reviewing past team recommendations DC motors for drive systems seemed to be an
optimal choice [4].
Table 3 - DC Motor Gear Efficiency’s [7]
Type of
Gear
Spur
Planetary
Efficiency
Simplicity
Gear Ratio
Cost
90%
~80%
Simple
Complex
Moderate
High
Low
High
As Table 3 shows spur gears are the most efficient gear available. Spur gears are also one
of the simplest designs and most cost effective because of their commonality. If a large
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selection of gear ratio is needed a planetary geared DC motor is the path that should be
taken.
Stepper Motor [AW]
An ultrasonic sensor is going to be used for mapping and object detection and with this
comes a need for a stepper motor. This motor will provide the panning and tilting action
for the sensor to create a greater depth map and detect sizes of objects. A comparison of
various stepper motors available on the market can be seen in Table 4.
Table 4 – Stepper Motors Comparison [8]
Characteristic
Permanent Magnet
Cost
Design
Resolution
Torque vs. Speed
Cheapest
Moderately Complex
30° - 3°/step
Noise
Stepping
Quiet
Full, Half and
Microstepping
Variable
Hybrid
Reluctance
Moderate
Most Expensive
Simple
Complex
1.8° / step and smaller
Less pronounced
torque drop at
higher speeds
Noisy
Quiet
Typically Full-Step
Full, Half and
only
Microstepping
Table 4shows a comparison of three different stepper motors currently available. A motor
with microstepping is required for our project along with taking resolution and cost into
effect.
Motor Controllers [MP]
The robot will need controllers for both the DC motors and controllers for the stepper motors. Each
type of controller has characteristics that need to be considered [9].
DC motor controller characteristics under consideration include:






Price
Size
Nominal voltage
Continuous current supply
Single/multiple motors per controller
Communication protocol
The considerations for the stepper motor controller include:


Price
Size
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




Step size
Communication protocol
Unipolar/bipolar
Nominal voltage
Current per coil
The motors that are chosen will determine which motor controllers are used.
Sensors [MD]
Sensors are an integral part the robot as the competition states that it must navigate the
course and retrieve the disks autonomously. Some sensors needed for the project include:





pressure sensors
magnetometer
color sensors
ultrasonic distance sensor
optical encoders
Pressure Sensors [MD]
Pressure sensors can be used to compensate for the speed of sound in different
atmospheric conditions, to improve accuracy of the sensor. The choices found in Table 5
warrant consideration.
Table 5 - Pressure Sensors Comparison [10]-[13]
Sensor
Manufacturer Interface Accuracy Voltage Range Package
MPL3115A2
Freescale
SPI
I²C
1%
1.95-3.9
LGA
MPL115A
Freescale
I²C
1%
2.4-5.5
LGA
MPL015A
Freescale
I²C
±1 kPa
2.375-5.5
LGA
KP254
Infineon
SPI
±1.5 kPa
3.3-5
PG-DSOF
Magnetometers [MD]
A magnetometer will be needed to provide a compass heading for the robot. This will be
essential for accurate navigation around the playing field. A comparison of magnetometers
can be found in Table 6.
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Table 6 - Magnetometers Comparison [14] – [17]
Sensor
Manufacturer
#
Accelerometers Interface Package Accuracy
Axis
FXOS8700CQ
Freescale
6
YES
I²C
SPI
QFN
5°
MAG3110
Freescale
3
NO
I²C
DFN
5°
HMC5983
Honeywell
3
NO
I²C
SPI
LCC
2°
HMC6352
Honeywell
2
NO
I²C
LCC
NA
Color Sensors [MD]
Color sensors will be used to detect the type of obstacle being passed over, as well as its
orientation and position. This will be used to enhance understanding of position on the
field while sensing the “downed trees”, and will be critically important for positioning the
robot to pick up the plastic pucks which represent the soil samples. These obstacles will be
black in contrast the white arena floor [1].
A small grid of color sensors will be needed to provide the orientation and position
information. The following options found in Table 7 are under consideration.
Table 7 - Color Sensors Comparison [18]-[20]
Sensor
Manufacturer RGB Sensitivity Interface Sample Proximity
(LUX)
Rate
Sensor
Hz
(Max)
MAX44005
Maxim
YES
0.001
I²C
640
YES
TCS3471
TAOS
YES
NA
I²C
416.7
NO
CLS1522C/L213(R/G/B)
Everlight
NO
NA
NA
NA
NO
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Ultrasonic Distance Sensors [MD]
An ultrasonic distance sensor will be mounted on a pan/tilt head. This will then be used to
scan the vicinity of the robot to determine position within the playing field. Scanning rate
is essential for quick scans; however, the scanning rate is limited by the speed of sound. A
narrow beam will help to increase the resolution of the scan. In Table 8 is a comparison of
ultrasonic sensors.
Table 8 - Ultrasonic Distance Sensors Comparison [21]-[23]
Sensor
Manufactur
er
Range
(cm)
Frequenc
y
Beam
Size
Interface Requirements
28015
Parallax
2-300
40 kHz
Narrow
Beam
Manual Timing
MB1210
MAXBOTIX
20-765
42 kHz
Wide
Beam
Serial or Analog
MB1240 [21]
MAXBOTIX
20-765
42 kHz
Narrow
Beam
Serial or Analog
Optical Encoders [MD]
Optical encoders will be used to detect orientation of the pan/tilt ultrasonic sensor head, to
monitor wheel speed (using a slotted rotor on each wheel), and to detect successful
collection of pucks. The following options in Table 9 are under consideration.
Table 9 - Optical Encoders Comparison [24]-[26]
Sensor
Manufacturer
Slot Width
Output
GP1S396HCP0F
Sharp
1.2 mm
Logic
QVE00033
Fairchild Semi
2 mm
Transistor
QVA11134
Fairchild Semi
3 mm
Transistor
Processing [MP]
The processing options evaluated include the STM32F4DISCOVERY (STM) from
STMicroelectronics [27], MSP430 line of microcontrollers from TI [28], EK-LM4F120XL
from TI [29], and the Arduino Mega [30]. Table 10 shows the comparisons of these units.
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Table 10 - Processor Comparison [27]-[30]
Characteristic
STM32F4DISCOVERY
Speed
168 MHz (ARM Cortex
M4-F)
$14.90
X
X
100
192 KB
Cost
Availability
FPU
I/O Headers
RAM
MSP430
Line
Up to 25
Mhz
< $5.00
X
N/A
Varies
EK-LM4F120XL
80 MHz (ARM
Cortex-M4F)
$4.99
X
40
32 KB
Arduino
Mega
16 MHz
$58.95
X
74
8 KB
The main requirements for the main processor of the robot include:




Fast
FPU
Large amount of RAM
Ease of use
The MSP430 line of microcontrollers does not meet all of these requirements but the team
has previous experience using this line of microcontrollers. This previous experience will
likely make it beneficial to use an MSP430 for some part of the processing subsystem. It is
noted that the previous year’s IEEE robotics team used the Arduino Mega board for their
processing unit.
Wheels [NB]
When trying to decide upon a method of movement for the robot there were a couple of
different options. First were tracks which would provide great traction but would make
sensing wheel slip harder to track and tracks are more difficult to work with. The second
option was wheels which are cheaper and smaller but don’t always provide traction
comparable to tracks. In Table 11 a comparison of various wheels on the market can be
found.
Table 11 - Wheel Comparisons [31]-[34]
Characteristic
VEX 4”
VEX 5”
Dagu All-Terrain
Platicon 6”
Actual diameter
4”
5”
4.72”
5.86”
Max width
1”
1”
2.36”
1.54”
Tread type
General purpose
High traction
High traction
High traction
Cost(set)
$20.00
$20.00
$25.00
$123.00
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The 2” obstacles will make using a wheel smaller than 4” diameter ineffective. The 12” max
length requirement restricts wheels to less than 6” diameter. Larger wheels provide more
clearance but may need more powerful motors [35]. The wheel needs to be lightweight
and narrow but be able to climb the obstacles on the course. In Fig. 2 you can see a
comparison of wheel to obstacle size depicting the challenge of using a wheel to climb over
an obstacle.
Figure 2 - Wheel vs. Obstacle Size
Lifting Devices [NB]
A lift device is required for the retrieval of the ‘soil samples’ in the form of a disk. The robot
must be able to vertically retrieve and store six disks placed throughout the course. Table
12 provides a comparison of technologies considered for use in this area. The VEX linear
slide is meant to be used with their rack and pinion motion kit [36]. This is a simple and
effective way to create vertical motion for the retrieval mechanism. The Firgelli L12 is a
miniature linear actuator. It is very compact and does not need an external drive
mechanism [37]. The Spiralift I-lock 75 uses two stainless steel bands to create an
extendable column. The I-lock 75 is the smallest version of the technology Spiralift offers. It
has a very large lift height relative to its size and can handle heavy loads [38].
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Table 12 - Comparison of Lifting Devices [36]-[38]
Characteristcs
VEX Linear Slide
Firgelli L12
I-lock 75
Lift
~11”
3.97”
63”
Min Height
12”
6.30”
3.94”
Max Height
~23”
10.24”
67”
Width
-
0.57”
5.91”
Length
-
0.67”
5.91”
Basis of Design [NB]
The IEEE Competition Rules and Request for Proposal will determine the design basis. Any
future updates of the IEEE Competition Rules will take precedence over the current
version. A previous IEEE design report is also referenced.
Request for Proposal(RFP)
09/11/12
2013 IEEE Robotics Competition Rules revision 7 [1] 10/16/12
2012 Design Report F11-IEEE Robot Team [3]
Accessed 10/02/12
Project Description [AW]
The objective of this project is to build an autonomous robot capable of autonomous
navigation and disk retrieval. The robot must make use of many different sensors and
motors along with a completed retrieval lift system. To do this our team has chosen to use
two processing units to control various parts of the robot. The slave processor will control
the slave sensors. The master processor will control the master sensors along with the
motor controllers for each subsystem and take input from the USB reader. In figure 3 you
can see a block diagram of our project showing all subsystems and their relationships.
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Figure 3 - Team 24 Block Diagram
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Subsystem Description [ALL]
Master Processing Subsystem [MD]
The Master Processing Subsystem will communicate with the Slave Processing Subsystem,
the motors, the sensors in the master sensors subdivision of the sensors subsystem and the
USB mass storage device reader. This subsystem will coordinate the activities of the robot,
generate navigation maps, locate the robot within the playing field, determine optimal
paths for the robot in real time, and direct retrieval of the soil samples.
Elements of this subsystem include:





USB Reader (FTDI VDIP1) [39]
PMW Constant-Current Control Stepping Motor Driver (ON Semiconductor
LV8713T) [40]
5.0 A H-Bridge with Load Current Feedback (Freescale Semiconductor
MC33886APVWR2) [41]
STM32 Microcontroller (ST Microelectronics STM32F407VGT6) [42]
Ultrasonic Distance Sensor (Parallax 28015-PING) [43]
The FTDI VDIP1 USB Reader is a module which implements support for the FAT file system
onto a board with its own MCU. This board provides a USB Host interface capable of
communicating with devices which comply with the USB Mass Storage Device specification.
The VDIP1 provides an SPI interface for communication between itself and the host
processor. This VDIP1 will enable support for the FAT file system while requiring far less
programming effort than other methods.
The ON Semiconductor LV8713T PWM Constant-Current Control Stepping Motor Driver
will be used to control the stepper motors used for the pan/tilt mechanism for the
ultrasonic range sensor. This chip provides the necessary logic for strobing the windings of
the stepper motors in the proper sequence, provides microstepping capability (down to
1/32nd of a step), provides short circuit detection, and features thermal overload shutdown
as well as under voltage lockout. The drive transistors for the two H-Bridges which control
the motor windings are integrated into the LV8713T, keeping the external part count low.
The design of the LV8713T allows for current sensing to be implemented low side, and
provides for sense on each H-Bridge.
The Freescale Semiconductor MC33887APVWR2 5.0A H-Bridge with Load Current
Feedback will be used to control the four brushed DC motors attached to the wheels, as
well as the two brushed DC motors used in the lift mechanism subsystem. This motor
controller features integrated transistors with low RDS, TTL/CMOS compatible inputs,
active current limiting, fault status reporting, a simple interface, and operates in the proper
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voltage range for our design. The MC33887APVWR2 provides an efficient motor control
solution in a small footprint, easing placement inside the cramped confines of the robot.
Current sense of each motor will be used to detect stalls, determine load conditions (such
as when climbing over obstacles), and ensure proper operation of the robot. To sense the
current drawn by each motor, a current sense resistor will be used on the low side of its
motor controller. The voltage across this resistor will be amplified by a TI OPA2188 low
noise, rail-to-rail output, chopper stabilized operational amplifier. The resulting voltage
will then be fed to the input of an ADC pin on the ST Microelectronics STM32F407VGT6
microcontroller. The digital value produced by the ADC will then be used to calculate the
current draw of the motor.
A Parallax 28015-PING Ultrasonic Distance Sensor will be used to provide ranging
information regarding the area around the robot. Additionally, the 28015-PING will pan
and tilt with use of the Pan/Tilt Subsystem to enable aiming the ultrasonic beam. This will
allow the 28015-PING to be used to generate a map of the terrain around the robot. This
terrain map will then be used to determine the position of the robot, and for navigation of
the terrain.
Documents likely to be made during the design process include:




Program flow charts
Information packet specification (for communication between master and slave)
Circuit schematics
PCB designs
Slave Processing Subsystem [MP]
The slave processing subsystem is the secondary processing center of the robot. This
subsystem will interface with the sensors in the slave sensors subdivision of the sensors
subsystem, process information from those sensors, and communicate with the master
processor.
Elements of this subsystem include:






MSP430 (TI MSP430F5438A) [44]
Magnetometer (Freescale MAG3110) [45]
Color Light-to-Digital Converter with Proximity Sensing (TAOS TCS3771) [46]
Optical encoders (Fairchild Semiconductor QVE00039) [47]
White LEDs (OSRAM CRI-85) [48]
IR LEDs (OSRAM SFH484) [49]
The MSP430 that will be used is the TI MSP430F5438A. This microcontroller is a good
choice for this subsystem because members of our team already have experience using the
MSP430F5438A product line and associated development tools. Additionally, this
19 | P a g e
microcontroller has a large number of available SPI/UART/ I2C interfaces, which allows us
to easily utilize a large number of sensors.
The MSP430F5438A will communicate with both the other elements in its subsystem
(sensors) and the master processor. Communication between the processors will be
achieved through SPI, I2C, RS232, or another UART protocol. A UART protocol is a likely
candidate since noise may be a problem and UART protocols are noise-tolerant. The
MSP430 will interface with the sensors through both I2C and SPI, depending on which
protocol the sensor supports.
Due to the lack of availability of our preferred magnetometer (the Freescale
FXOS8700CQR1), the Freescale MAG3110 Magnetometer will be used. The MAG3110 will
be one of two major components of the navigation/mapping process, alongside the
ultrasonic sensor. The MAG3110 will allow us to know which direction the robot is facing
(like a compass) and will make navigation significantly more accurate. The MAG3110 will
also require the use of an accelerometer to compensate for sensor tilt if we wish to have
accurate readings 100% of the time. The MSP430F5438A will communicate with the
MAG3110 using I2C.
The TAOS TCS3771 Color Light-to-Digital Converter with Proximity Sensing will be used to
detect color and proximity of the surface underneath the robot. This will increase the
accuracy of positioning the robot within the playing field, and will enable the precise
positioning needed for aligning our sample collection system over the pucks.
To provide the TCS3771s with a consistent light source we will make use of the OSRAM
CRI-85 LEDs. The CRI-85s will ensure a uniform color response, allowing reasonable
accuracy in discriminating between the red dot intersection points, the dowels, the pucks,
and the normal white playing field surface. The CRI-85s will be powered by a dedicated
linear voltage regulator which features a disable pin. This will allow the CRI-85s to easily
be switched on and off, as well as brightness controlled via PWM, using one pin and no
extra drive circuitry. The OSRAM SFH484 IR emitters will be used in conjunction with the
color sensors to provide the proximity sensing. The color sensors will control these
SFH484s to emit the pulses they need to perform their proximity sense function.
The Fairchild Semiconductor QVE00039 optical encoders will be used to determine the
travel distance of the wheels on the robot. The QVE00039s will not be connected directly to
the MSP430F5438A but rather will be connected to a controlling circuit that will connect to
the MSP430F5438A.
20 | P a g e
Documents likely to be made during the design process include:




Program flow charts
Information packet architecture (for communication between processing
subsystems)
Circuit schematics
PCB designs
Pan/Tilt Subsystem [AW]
The pan/tilt subsystem is an important part of the robot that will control the movement of
the Parallax 28015-PING Ultrasonic Distance Sensor, part of the Master Processing
Subsystem. This system will control the vertical and horizontal movement of this system.
Elements of this subsystem include:


12 V 1.8 Step Angle Bipolar Stepper Motor (Shinano Kenshi STP-42D201-37) [50]
PWM Constant-Current Control Stepping Motor Driver (ON Semiconductor
LV8713T) [40]
The system uses two Shinano Kenshi STP-42D201-37 12V 1.8 Step Angle Bipolar Stepper
Motor to move the 29015-PING both horizontally and vertically. This allows us to utilize
the 29015-PING sensor for mapping in an efficient manner.
The STP-42D201-37s will be controlled by the ON Semiconductor LV8713T PWM ConstantCurrent Control Stepping Motor Driver. The LV8713Ts will be controlled by the Master
Processing Subsystem.
Lift Subsystem [NB]
The lift subsystem is an integral part of the robot design. Without a functioning lift device,
the robot will be unable to compete. This device needs to be able to lift the pucks vertically
from the ground and then place them in a container onboard the robot.
Elements of this subsystem include:







Drive motors (VEX 276-2177) [51]
Gear kit (VEX 276-2169) [52]
Rack gear (VEX 276-1957) [53]
Electromagnet (McMaster-Carr 5698K112) [54]
Linear slide (VEX 276-1096) [36]
5.0 A H-Bridge with Load Current Feedback (Freescale Semiconductor
MC33886APVWR2) [41]
Sheet Aluminum (stock)
21 | P a g e
The lift needs to be strong enough to pull the puck from the putty that attaches it to the
board. A test must be performed in order to determine the requisite lifting power of the
lift.
The lift will use two of the VEX 276-2177 drive motors: one for vertical movement and one
for horizontal movement. A McMaster-Carr 5698K112 electromagnet will be used to hold
the puck during lifting. This will allow the lift device’s size to be minimized while providing
more than enough force to lift the puck.
The vertical lift system will move a carriage along two guide rails using a 1/4” diameter
threaded rod for movement. A 276-2177 placed at the top of the threaded rod will turn it.
The carriage will be made of aluminum and will have a fixed nut that the threaded rod will
go through.
The horizontal movement system will use the VEX 276-1096 linear slide rails with one
slide rail on the top of the vertical mechanism and the other at the bottom. The top slide
rail will use the VEX 276-2169 gear kit and the VEX 276-1957 rack gear to create a linear
gear system moved by the 276-2177 drive motor.
The 5698K112 will be attached to the bottom of the carriage. It will be controlled by the
master processing subsystem in order to have precise timing for pickup and release.
In order to create optimal part placement, the lift device will be placed at the rear of the
robot. The frame subsystem will be designed around the lift so that space is used most
efficiently.
Documents likely to be made during the design process include:


CAD drawings
Lift Subsystem Strength Requirement Test
Drive Subsystem [AW]
The robot must be able to navigate a course filled with obstacles that must either be
avoided or traversed. In order to do this a drive subsystem must be designed capable of
successfully allowing the robot to navigate the course.
Elements of this subsystem include:

Drive motors (VEX 276-2177) [51]
 5 inch wheel (VEX 276-1498) [32]
 5.0 A H-Bridge with Load Current Feedback (Freescale Semiconductor
MC33886APVWR2) [41]
22 | P a g e
Our team had a few different obstacles to overcome in the drive system. First, our robot
must be capable of climbing over the 2 inch dowel rods placed throughout the course.
Large tires are required to create a surface large enough to climb over and also to provide
sufficient ground clearance for the drive components of the robot. To do this we will be
using the large VEX 276-1498 5 inch wheel that feature a high-traction style tread. This will
put the center of the tire at 2.5 inches, which is 0.5 inches over the highest point of the
dowel. This will ensure that our robot will be able to traverse any obstacle that is put in its
way throughout the course without hesitation.
The second obstacle is creating a drive subsystem that will be capable of both moving the
robot at a sufficient speed and traversing the course obstacles. In order to do this the
calculations in our literature review were taken into consideration to choose the
appropriate DC motor. It was determined that we need a motor that has a torque rating of
0.09072 N-m. The motor we have chosen is the VEX 276-2177 drive motor which provides
1.67 N-m and a free speed of 100 rpm. These motors will be controlled by the masterprocessing subsystem.
Documents likely to be made during the design process include:


Speed & Acceleration Test
Obstacle Traversing Test
Power Subsystem [NB]
A good power source is needed to allow peak performance of the other subsystems. The
power source needs to be able to supply enough power for the robot to complete its tasks.
Size and weight are also important considerations when choosing a battery.
Elements of this subsystem include:


Lithium Polymer Battery (GForce RFI-LP-1443) [55]
Various Voltage Regulators (Stock)
The minimum voltage needed for the battery is determined by the subsystem needing the
highest voltage. The Pan and Tilt Subsystem has the highest requirement at 12 volts and
the GForce RFI-LP-1443 Lithium Polymer Battery provides 14.8 volts [n1]. The RFI-LP1443 Lithium Polymer Battery has a capacity of 6000 milliamp hours which will allow the
robot to easily complete its tasks before the battery is depleted. A test of average total
system power use would allow us to see the minimum milliamp hours needed for the robot.
The voltage regulators will provide several voltage levels to different devices. 3.3 volts will
be used for the Master Processing Subsystem and the Slave Processing Subsystem. The
Drive Subsystem will use 7.2 volts. 12 volts will be needed by the Pan and Tilt Subsystem.
Both 7.2 and 12 volt supplies will be used for the Lift Subsystem.
23 | P a g e
Documents likely to be made during the design progress include:



Battery Life Test
Battery Charge Time Test
Voltage Levels Test
Frame Subsystem [AW]
The frame is an important subsystem that is used to create the body of the robot. This
system will provide structural support and mounting locations for all components of the
robot. It is important that the frame be lightweight but very strong.
Elements of this subsystem include:

Aluminum C-Channel (VEX 276-2288) [56]
The frame will be constructed of VEX 276-2288 aluminum c-channel. The material is made
of zinc-plated cold-rolled aluminum that is 0.046” thick shown in figure 2. The 276-2288
aluminum c-channel will provide structural strength to prevent twisting or bending of the
frame. It also is made for robotics construction and has holes in 0.5” increments allowing
for mounting points all along the channel.
The frame design will feature a two-level box design that allows for multilevel mounting
points for the various subsystems of the robot. Additionally, the design of the frame will
allow ample room and mounting locations for the retrieval subsystem which will require
multiple moving parts and necessitate multiple attachment points.
Documents likely to be made during the design progress include:

CAD drawing
24 | P a g e
Figure 4 - VEX Robotics C-Channel [56]
25 | P a g e
Scope of Work [MD]
Description of Deliverables
A robot capable of autonomously navigating a simulated fire demolished forest to collect
soil samples at predetermined locations will be constructed. This robot will be able to scale
obstacles two inches high, navigate around taller obstacles, and collect and return pucks. A
quantity of six pucks, each three inches in diameter, will be collected and returned to the
starting position. This robot will fit within a cube which measures one foot on each side
prior to the start of the competition, and will again fit within this same sized cube by the
end of the competition.
Several subsystems will need to be created to meet the needs of this project. These
subsystems will interoperate to meet the goals of the project. These subsystems will be
created independently to the greatest degree possible, then integrated into a complete
solution.
The robot will feature a collection mechanism which will be used to retrieve soil samples.
The soil samples will be located using the onboard navigation system. When the robot has
located a soil sample, it will use its sensor platform to hone the precise position of the
sample pucks while positioning the robot for collection. The collection subsystem will then
engage the collection mechanism and store the puck. The navigation system will then
repeat this process until all soil samples have been collected. The robot will then navigate
back to its starting position.
The onboard navigation system will consist of a magnetometer, an ultrasonic range finder,
a set of color/IR proximity sensors, and wheel speed sensors. The information collected
from these sensors will be used to locate and navigate the robot.
The locomotion will be provided by four large, high traction wheels individually directly
driven by brushed DC gearhead motors. This direct drive system will be utilized to enable
precision traction control of the robot as it passes over obstacles, which will significantly
reduce the amount of error which creeps into the location tracking on the navigation
system.
The ultrasonic range finder will be used in conjunction with a pan/tilt head mechanism to
form a primitive sonar system. This system will generate a height map which will give a
picture of the area around the robot. Stepper motors will be used to provide precision
vectoring of the ultrasonic sensor head. Optical interrupter switches will be used for auto
calibration of the head position. The fixed head height above the ground will be utilized
along with the known angle provided by the stepper motors to determine the distance to
any detected obstacle. The height at which the obstacle is detected will also be calculated,
and stored in the height map at the proper position. This information will be continuously
updated while the robot is in motion, to provide a real time map for the navigation system.
The master processor will perform the calculations and store the data in its internal RAM.
The magnetometer will function as a compass, providing the robot with its heading
information. This information will be used with the ultrasonic range finder for determining
the angle of the sensor head relative to the Earth. This angle of the head will be essential
for properly updating the real time map. The navigation system will make use of the
26 | P a g e
compass information to track its movement, ensure it is staying on path, and to determine
its heading at all times.
The color/IR proximity sensors will be used in conjunction with IR emitters to provide
proximity detection. This proximity detection will be used to measure the height of
obstacles underneath the robot, as well as to determine its distance from objects the robot
passes close to. The color information from these sensors will be used in conjunction with
the proximity information to determine the type of object being sensed. The proximity
information combined with the detected color will provide for enhanced accuracy in object
determination.
Physical Tests to be performed






Lift Subsystem Strength Requirement Test
Speed & Acceleration Test
Obstacle Traversing Test
Battery Life Test
Battery Charge Time Test
Voltage Levels Test
Deliverables






Physical Robot
CAD Drawings
o Frame Subsystem
o Lift Subsystem
Program flow charts
o Master Processing Subsystem
o Slave Processing Subsystem
Information Packet Specification
Circuit schematics
PCB Designs
Validity Statement
This proposal is valid for a period of 30 days from the date of the proposal. After this time,
Saluki Engineering Company reserves the right to review it and determine if any
modification is needed.
27 | P a g e
Cost Analysis [AW]
Item
Description
MASTER PROCESSING SUBSYSTEM
1
2
3
4
5
6
1ST STM32F Discovery Processor
2Parallax Ultrasonic Sensor
3Osram 5mm LED IR
Quantity
Price Each
Total Price
Osram LED White
FTDI USB Reader
4TI Op-Amp
1
1
10
10
1
3
$14.90
$29.99
$04.40
$04.50
$24.50
ON HAND
$78.29
7
8
9
10
SLAVE PROCESSING SUBSYSTEM
5TI MSP430 Processor
7AMS-TAOS Color Sensor
8Freescale Magnetometer
9Fairchild Optical Interrupt
$14.90
$29.99
$00.44
$00.45
$24.50
$03.15
SUBTOTAL
1
10
1
4
ON HAND
$27.80
ON HAND
ON HAND
$27.80
11
12
13
14
15
16
17
18
19
LIFT SUBSYSTEM
DC Powered Electromagnet
VEX Slide Rails
VEX Slide Rail Gears
VEX Gears
Sheet Aluminum
Threaded Rod
Misc. Hardware
VEX Robotics 393 DC Motor
Freescale H-Bridge Motor Controller
$04.95
$02.78
$29.95
$03.15
SUBTOTAL
1
1
1
1
1
1
1
2
2
$36.84
$14.95
$19.99
$12.99
$25.00
$06.00
$40.00
$19.99
$06.22
SUBTOTAL
$36.84
$14.95
$19.99
$12.99
ON HAND
ON HAND
ON HAND
$39.98
$12.44
$137.19
20
21
22
23
24
DRIVE SUBSYSTEM
VEX Robotics 393 DC Motor
VEX Robotics 5” Wheels
VEX Drive Shaft
VEX Shaft Collar
Freescale H-Bridge Motor Controller
4
4
1
1
4
$19.99
$19.99
$05.49
$10.49
$06.22
SUBTOTAL
$79.96
ON HAND
$05.49
$10.49
$24.44
$120.38
25
26
POWER SUBSYSTEM
GForce 14.8V 6000 mAH
Miscellaneous Voltage Regulators
1
1
$44.06
$15.00
SUBTOTAL
$44.06
ON HAND
$44.06
27
28
PAN/TILT SUBSYSTEM
Shinano Stepper Motor
ON Semi Stepper Controller
2
2
$14.95
$01.88
$29.90
$03.76
28 | P a g e
SUBTOTAL
$33.66
29
FRAME SUBSYSTEM
VEX C-Channel
1
$39.99
SUBTOTAL
$39.99
$39.99
30
31
32
COURSE MATERIAL
3Delrin Disk
UHU-TAC Puddy
2 inch Dowel Rod
6
1
9
$03.83
$05.87
$07.95
ON HAND
ON HAND
ON HAND
TOTAL
$481.37
Project Organization Chart [MP]
29 | P a g e
Action Item List [AW]
IEEE Robot Team 24
Action Item List
Team Members:
Nathan Baldwin, CpE
Michael Dean, EE
Michael Peerboom, EE
Alex Watson, EE
Activity
Finish Master Processing
and Pan/Tilt Subsystems
Parts Order
Finish Slave Processing
Subsystem Parts Order
Finish Drive and Frame
Subsystems Parts Order
Finish Lift and Power
Subsystems Parts Order
Finish Master Processing
and Pan/Tilt Subsystems
Build
Finish Slave Processing
Subsystem Build
Finish Drive and Frame
Subsystems Build
Finish Lift and Power
Subsystems Build
Assigned
MD
Date Assigned
1/14/2013
Date Due
1/25/2013
Status
Pending
MP
1/14/2013
1/25/2013
Pending
AW
1/14/2013
1/25/2013
Pending
NB
1/14/2013
1/25/2013
Pending
MD
1/14/2013
1/25/2013
Pending
MP
1/14/2013
1/25/2013
Pending
AW
1/14/2013
1/25/2013
Pending
NB
1/14/2013
1/25/2013
Pending
30 | P a g e
Team Timeline [MD]
Schedule for SEC Projct #: FE12-24-IEEE2
Activity
18-Jan
25-Jan
1-Feb
8-Feb
15-Feb
22-Feb
1-Mar
8-Mar
15-Mar
22-Mar
29-Mar
5-Apr
6-Apr
12-Apr
19-Apr
Finish Part Orders
Finish Building Susbsytems
Perfect Subsystems
1st Subsystem Test
Utility Programming
Device Driver Programing
Navigation Software Programming
Design Review
Debuging
Assemble device
Progress Report
Perfect Device
1st System Test
Competition Document design
Competition
Document design
Legend:
As bid:
Activity:
Milestone:
31 | P a g e
26-Apr
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32 | P a g e
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[25]
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[26]
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[27]
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33 | P a g e
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[30]
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[31]
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[32]
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[33]
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[36]
VEX Robotics, “L12 12V Miniature Linear Actuator,” [online] accessed: 10/3/2012,
available: http://www.robotshop.com/firgelli-technologies-L12-100-100-12-I.html
[37]
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http://pacospiralift.com/i-lock-en.html
[38]
Future Technology Devices International Ltd., “Vinculum VNC1L Module Datasheet,”
[online] accessed: 10/31/2012, available:
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[39]
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[40]
Freescale Semiconductor, “5.0 A H-Bridge Datasheet,” [online] accessed: 10/31/2012,
available: http://cache.freescale.com/files/analog/doc/data_sheet/MC33886.pdf
[41]
ST Microelectronics, “STM32F405XX, STM32F407XX Datasheet,” [online] accessed:
10/31/2012, available:
http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHE
ET/DM00037051.pdf
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Appendix A: Team Resumes [NB]
miketdean@gmail.com
Michael T. Dean
EDUCATION:
Current Education 2011 – present
 Enrolled in Electrical Engineering at Southern Illinois University, Carbondale with a 3.4 GPA
 Expected Graduation: December 2013
Education 2009 – 2011
 Enrolled at Lakeland College in Mattoon, IL
 Tutored math, chemistry, physics and C programming
WORK EXPERIENCE:
EMAC, Inc. - Engineer, Carbondale, IL July, 2012 – present
 Developed, maintain and support OpenEmbedded Qt Linux SDK
 Project Lead - customer wiki
 Build and support OpenEmbedded Linux distributions for Arm, Vortex86, and Atom based
systems
 Perform hardware debugging, modification, and behavioral characterization for prototype
boards
 Develop and maintain device drivers and board support files for EMAC OpenEmbedded
Linux
 Member of Documentation Systems Committee, which determines documentation strategy
moving forward
Freelance Consultant Chicago, IL 2002 – 2009
 Networking: Setup and supported several small business networks with Windows and
Linux servers. Performed occasional maintenance work on Sun and SCO Unix servers.
 Software Development: Developed numerous small applications for small businesses,
mostly for automation of business processes and data mining with report generation. Wrote
numerous scripts for process automation
Applied Integration – Director of Engineering, Tucson, AZ January 2000 – 2001
 Managed and mentored electrical and software engineers
 Developed streaming audio and streaming video software
 Developed firmware for a Dual Pan/Tilt/Zoom Controller with a PELCO interface
 Performed Network Administration tasks for Windows and Linux servers
Cal-kin Technologies – Network Administrator, Chicago, IL January 1999 – December 1999
 Deployed and maintained Windows networks; maintained legacy DOS software
The Northern Trust Corporation – Software Developer, Chicago, IL January 1998 – January 1999
 Developed Wirefund Transfer system in C++ and data mining and report generation
applications in VBA
TECHNICAL SKILLS:
 Languages: C++, C, Visual Basic, x86 Assembly and Motorola 68HC11 series Assembly,
HTML, Python, Bash
 Operating Systems: Windows, OpenEmbedded, Linux, SCO Unix, Sun Solaris, MS DOS
 Tools: Visual SourceSafe, Intel VTune, Microsoft Visual C++, Intel C++ Compiler, Visual
Basic, NuMega, DevPartner (BoundsChecker, TrueCoverage, TrueTime), GCC, G++, GDB
 Technologies: MFC, ActiVEX, ATL, DirectX, COM, STL, Win32 API, WinSock API, DLLs,
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

Windows GDI
Software: Apache, Squid, sshd, Samba, IP Tables Firewalls, MS Exchange, MS IIS, Bind9,
VMWare
Microcontrollers: 68HC11x, MSP430x, Arm, Vortex86, VortexMX, VortexMX+, Atom
ACTIVITIES:
 SIUC Robotics Club – Treasurer (2011-2012), President (2012-2013)
 SIUC IEEE Student Branch – Project Chair (2011-2012)
 SIUC IEEE Led Cuboid Project – Project Lead (2011-2012)
Honors & Awards:
 2012 IEEE Region 5 Conference Circuits Competition – 3rd place
 SIUC College of Engineering Dean’s List, Fall 2011
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Nathan Baldwin
3955 Raleigh Road, Eldorado, IL 62930
(618) 364-2815
nab@bmdtv.com
EDUCATION:
Bachelor of Science in Computer Engineering
Southern Illinois University, Carbondale, IL 62901
GPA: 3.68/4.0
Expected Graduation: May 2013
Relevant Coursework
 VHDL and Verilog
 C++ Software Engineering
 Digital Circuit Design
 Computer Organization and Design
 VLSI Design
 Design of Embedded Systems
SKILLS:
 C++
 Xilinx
 Web Design



Word
Excel
PowerPoint
ACTIVITIES:
 Senior Design Project – Autonomous sample collecting robot for IEEE Region 5
Competition
 Tau Beta Pi
EXPERIENCE:
Information Technology Director, OPR Therapy, Marion, IL
In charge of computer maintenance, networking and internet access,
printing support, and remote access server systems.
Freelance Web Designer
Designed web sites for several local businesses and organizations
including:
 Saline County Tourism Board, Harrisburg, IL
 Neely Services, Inc, Carterville, IL
 Hart's Music Center, Harrisburg, IL
February 2012 - Present
2007 - Present
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5816 Weymouth Dr, Rockford, IL 61114
michaelpeerboom@gmail.com
(815)450-9878
Michael Peerboom
EDUCATION:
B.S. Electrical Engineering
Southern Illinois University, Carbondale, IL 62901
3.375/4.0 GPA
Expected Graduation: May 2013
Associate in Science
Rock Valley College, Rockford, IL
3.013/4.0 GPA
Graduated: May 2011
Relevant coursework
 Computer Organization and Design
 Synthesis with Hardware Description Languages
SKILLS:




C
LabWindows/CVI
MATLAB
Xilinx




Microcontrollers
Excel
Word
PowerPoint
ACTIVITIES:




Vice-chairman of the SIUC Robotics Club
o Assembling a quadrotor that uses a long-range transceiver with video
capabilities in preparation to design and construct a quadrotor of our own.
Senior Design project
o Autonomous course-navigating robot for IEEE Region 5 competition
SIUC IEEE
Engineering Student Council representative
WORK EXPERIENCE:
Engineering Intern, Esterline
May 2012 – August
2012
 Worked on product-demo project including both CVI and microcontroller
programming.
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575 College Road, Eldorado, IL 62930
618.841.9444 ● alexleewatson@gmail.com
LinkedIn.com/watsonalex
Alex Watson
EDUCATION
Bachelor of Science in Electrical Engineering
Southern Illinois University, Carbondale, IL 62901
GPA: 3.35/4.00
Relevant Coursework
 Digital & Analog Design
 Microelectronics
 Electromechanical and Power Systems
May 2013



Analog Signal Analysis
Systems & Controls
VHDL & Verilog Design
EXPERIENCE
Electrical Engineering Intern, Continental Tire, Mt. Vernon, IL
June 2012-August 2012
 Completed machine circuitry upgrade drawings using AutoCAD LT 2011.
 Rewired Schmersal safety controllers to improve circuit stability and machine safety.
 Installation of replacement Beckhoff and Allen Bradley IPCs.
 IPC upgrades and reconfigurations including Lightbus modules, InterBus modules, hard drives,
and RAM.
 IPC software upgrades, server and client side virus protection upgrades.
 InterBus installation, configuration, and created training documentation.
 Worked with technicians to diagnose and solve machine component failures with assistance of
InterBus software.
SKILLS




Critical thinking, problem solving, and conflict resolution.
Excellent leadership, interpersonal communication, and project management skills.
Solid Works, AutoCAD, Multisim, MATLAB, Xilinx, Microsoft Office Suite and some C++.
Advanced knowledge of web design, web maintenance, and graphic design.
TECHNICAL PROJECTS
SAE BAJA
Fall 2011 – Spring 2012
 Designed and implemented electrical system including dash panel, gear indicator, and braking
system.
 Fabricated car chassis and cockpit components.
Switch Panel Designer
Summer 2010 – Fall 2011
 Engineered sleek custom switch panels for use in off-road vehicles.
 Panels were designed in Solid Works and reverse engraved for back-lighting capabilities.
INVOLVEMENT



Scholarship Awardee, SIU Leadership Development Program
President, SIUC Engineering Student Council
Project Manager, Senior Design 2013 IEEE Robot Competition Project
Fall 2011 - Present
March 2012 – Present
August 2012-Present
41 | P a g e
Appendix B: 2013 Region 5 Robotics Competition Rules [NB]
2013 IEEE Region 5
Annual Meeting and Student Competitions
April 6 – 7
Denver, Colorado
Student Robotics Competition
Problem Statement and Competition Rules
Venue
The IEEE 2013 Region 5 Robotics Competition will be held Saturday, April 6, 2013 in the Grand
Ballroom at the Hyatt Regency Denver Tech Center in Denver, CO. The competition will be open to
contestants, spectators, and visitors throughout the event. Student teams will be provided with
tables, outlets, and practice space the evening before and day of the competition. Students must
arrive to the competition prior to the 0800 start time on April 6 and enter their robots; however,
participation in the competition will require pre-registration before the deadline. More details on
this will be provided on the web site: http://r5robotics.oc.ieee.org
1 Revisions
As in the past, rules are subject to change based upon input received from teams. Changes will be
notated here. There will also be a question and answer website that will be updated as questions
are received.
August 18, 2012 – Preliminary release of document to public. At this time, the details for the
question and answer website are still not finalized. As soon as we have a working site, this will be
published. Furthermore, the details of the file contents with locations of the samples has not been
determined. This will also be published as soon as it is finalized.
September 2, 2012 Entry requirements section edited to reflect quarantine requirements.
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September 7, 2012 Information added regarding obtaining access to the R5 Robotics website.
The procedure for website registration for questions and answers are detailed in section 2.
September 14, 2012 File specifics added in section 5.
October 14, 2012
– Second paragraph modified in section 5 to include a 1/16" sheet of tin added to the top
of the soil samples and to clarify allowable probe movements.
– The third bulleted item under 4 was changed to clarify the robot size requirements. It
was not originally intended to confine the robot size restrictions during the entire round;
therefore, the specific rule has been modified to allow the robot to expand during the
round.
– The details on the paint of the playing surface in section 6 have been changed. The
‘obstacles’ will now be painted gray and not black. The particular paint specifications
will be provided soon.
October 15, 2012 Second paragraph modified in section 5 to correct typo from 1/6" to 1/16".
October 16, 2012
– Details on gray paint added in section 6.
– A change was made in the construction of the standing trees. 400 400 1200 high cut
pieces of fir will be used as described in section 6.
– A modification to section 5 describing the sheet of tin to be added to the Delrin samples.
2 Contestant Eligibility
The competition is open to all undergraduate students attending IEEE Region 5 educational
institutions. Teams may not include any non-undergraduate students. Contestants are required to
register appropriately for the regional conference and student activities. In order for your team to
participate in the ongoing internet based Question and Answers, your team must be pre-registered.
To register for the questions and answers, please submit the name of your school, your team name,
one team member responsible for monitoring questions and answers to (robotics AT r5conferences
DOT org) requesting registration for the R5 Robotics website. You will receive an email containing a
unique invitation key which will allow you to access the website. The requesting team member
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must be an IEEE member and have an IEEE web account to register. You can recover or open a web
account at the following link: http://www.ieee.org/about/help/my_account/web_account.html
Please limit access requests to one request per team.
3 Contest Description
This year’s contest will preserve the tradition of compact mobile and autonomous robots operating
on a predefined playing field. The challenge will be to collect simulated ’soil’ samples placed on the
field, the competition will be won by the robot that collects the most samples in the allotted
timeframe. The competition will begin at promptly 0800.
4 Entry Requirements
The robots will be screened by a judge before each round of competition. Entries not meeting the
requirements will be disqualified for the round. At the beginning of each round of competition, all
qualified robots will be placed in a ’quarantine’ area and will remain there until the robot is
scheduled to compete. Prior to the scheduled time (during the round of the previously scheduled
teams), a team member will come to the quarantine area to collect their robot. The team member
will not be allowed to leave the competition area with the robot until after the robot has competed
in the round. Any violation of these rules will result in disqualification.
1. Entries must be fully autonomous and self-contained. Human or remote computer
intervention is prohibited during play.
2. The robot must be able to read soil locations from a usb flash memory drive at the start of
the round.
3. The maximum dimensions of the robot are 1’ wide x1’ deep x1’ high. The robot in its
entirety should fit within this bounding box at the start and at the end of the competition.
However, the robot may exceed these dimensions during the round as long as the robot
returns to these dimensions upon completion. The round will not be considered complete
until the robot returns to the original 1’x1’x1’ dimensions.
4. Entries must be generally safe in the opinion of the judges. The possibility of the robot
causing harm to persons or property will be the deciding factor. This precludes the storage
of flammable gases or liquids. Batteries should be enclosed in a way that will not present
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any danger to the operator or playing field.
5. Robots may not exceed a generous weight limit of 50 pounds.
6. An easily accessible “start/stop” button must be provided for the judges to initiate
competition. This button must be distinct and separate from any other buttons.
5 Objective
One of the biggest problems with revegetation after forest fires is the determination of the level of
human intervention required. After some fires, it is possible to let nature take its course to restore
the forest to optimal health. Other fires can be so devastating to the forest ecosystem that intensive
human intervention is necessary to assist nature. One of the best ways of making the determination
is through soil samples. This year’s objective is to build a robot capable of entering the playing
surface and collecting ‘soil samples’ at points specified prior to the start of the round. The locations
will be provided to the robot in a file contained on the team’s choice of either a Universal Serial Bus
(USB) flash drive or an Secure Digital (SD) memory card. The flash drive will be provided upon
entry into the robot ‘quarantine’ area. The robot must be able to read the file and subsequently act
on the information. The memory device will contain a single file, named ‘Locations.csv’, containing
six quadrant locations in a comma separated variable format. The quadrant locations will be
specified, as shown in figure 1, from sector 1 to sector 16. A sample file will be placed on the IEEE
Region 5 robotics community page. The file will provide the locations of 6 the desired samples; the
sample locations will list the number of each sector containing a sample. The locations will remain
constant throughout the round; each team will receive identical sample locations. The locations will
change for the second round and the final round. The sample will be located in the middle of the
sector specified. The successful robot will move to each location and collect a sample returning to
sector 1 upon completion. There will be no specified order for sample collection. Due to the
inherent problem of bringing a large quantity of soil into the Grand Ballroom of the Hyatt Regency,
the soil samples will be simulated. Each ‘sample’ will consist of a disc, constructed of Delrin and
with a 1.5" diameter circle of 1/16" thick tin epoxied on the top of the disc, located on the floor in
the specific location provided. The disc will be secured to the floor, in the center of the designated
sector, using one square of Saunders UHU TAC R Adhesive Putty (OfficeMax Item # 20109188). The
adhesive square will be replaced after each round for all collected or moved samples. Each sample
disc will be approximately 3” in diameter and 0.506125” in height. In keeping with the nature of the
challenge, the robot will be required to collect the sample using a probe which moves vertically
down from the robot. The probe may move outward horizontally and then down vertically, but the
actual collection must occur vertically. There is no specified location for this probe; it can be located
on the front, back, or sides of the robot. The robot can use whatever method deemed appropriate to
45 | P a g e
pick up the discs. The robot may either store the discs on the robot, or the robot may deliver each
disk to sector 1 and then return to the field to collect the remainder. The playing field, with
obstacles from a top-down viewpoint, can be seen in figure 1 below.
6 Playing Surface
The playing surface base is an 8’x 8’ surface constructed out of MDF or equivalent (two 4’x8’
sheets). The face of the surface will be painted with – White Rust-Oleum R 1990. The playing surface
will contain a random placement of ‘obstacles’ such as might be found in a typical forest; these
obstacles will be painted with – Satin Granite Rust-Oleum R 249078.
The obstacles are:
1. downed trees - simulated by a simple wooden dowels of 2” in diameter placed as shown
across the playing field. The dowels will be nailed to the floor. As you can see from figure 1, the
starting location is the such that the robot cannot go around these obstacles. In short, the robot
must be able to go over the downed trees.
2. standing trees - simulated by 400 400 1200 high cut pieces of fir bolted to the playing floor.
The robot must navigate around these obstacles. Point deductions will occur if these obstacles are
in any way damaged by the robot. Damage will be determined by denting or significant scratching
of the obstacles.
3. rocks or boulders - simulated by gallon sized paint cans nailed to the playing floor.
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Figure 1: 2013 IEEE R5 Student Competition Playing Field Diagram - obstacles will be placed on the field in
the positions shown
The field is broken up in to 16 2’x2’ sectors as shown in Figure 1. The sectors will not be painted
onto the surface; there will be a small, 1" in diameter, red dot to indicate the intersection points of
the lines making up the sectors as shown in figure 1; the paint type is to be determined. The robot
will enter the field in the upper left of sector 1 and proceed thenceforth to collect samples. At the
completion of the collection sequence, the robot is to return to sector 1 with the 6 samples.
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7 Scoring
Scoring will be based on both success of the mission and the time required to successfully complete
the mission. Each sample successfully collected will score 100 points; the points will be scored with
successful collection. If a robot does not successfully complete the entire mission, the score for each
collected sample will remain. If the robot is able to successfully collect all samples and return to
sector 1 in less than 1 minute, the team will receive 480 bonus points. The 480 bonus points will be
reduced by 20 for every additional 10 seconds required to complete the mission. Thus, if a robot
collects all 6 samples and returns to sector 1 in 4 minutes, the score attained will be 720 with no
further deductions. If a robot collects only 4 samples, the score will be 400. If the robot collects all 6
samples but fails to return to sector 1, the score is 600. If an obstacle on the board is moved or
damaged by a robot, the point deduction will be 100 for every violation. If, at point during the
round, any part of the robot leaves the 8’ x 8’ floor area, the round is complete and the score is
zeroed. In order for the mission to be judged a success and receive time bonus points, the robot
must end completely within sector 1.
8 Round Description
Each team will get 2 rounds of play. The scores from both rounds will be added together to make up
the final score. The top three teams will play one final round to determine the 1st, 2nd, and 3rd
place winners.
The rounds will proceed as follows:
1. The judge requests the team from the “on deck” area.
2. Students have 1 minute to place their robot in the starting area and step back behind the
predetermined team observation area. The robot must fit entirely in the starting point
of the field.
3. The judge will press the “start” button and begin timekeeping.
4. The robot will have 5 minutes of play to collect as many samples as possible and return
to the start.
5. After 5 minutes of play, the robot will be stopped or may stop on its own. The number of
samples and points scored will be recorded by the judge. If a robot leaves the playing
field or for some reason no longer meets its size or safety requirement the round will be
ended. The team captain may also give the judge a command to end the round for any
reason at any time.
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9 Prize
A cash prize will be given to the winning team. Amount to be announced at a later time.
10 Technical Award
A reward will be given to the team with the best technical report of their robot. The format must be
IEEE standard conference format; a template is available at the following link: IEEE templates.
Paper will be judged based upon the following criteria:
1. Quality of the writing (e.g., clarity, organization, figure size, style, etc.) (15%)
2. Innovation and originality in the solution methodology and approach to robot design
(25%)
3. Sufficient depth and breadth of the research (15%)
4. Ability of a reader in the field to replicate the robot and understand its theory of
operation (25%)
5. Validation of results reported in paper (20%)
The award amount to be announced at a later time.
11 Contact Info
For questions regarding the rules and all other matters related to the robotics competition, please
follow the instructions in section 2 to register for the R5 Robotics website.
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