Final Presentation

The Team
Alex Holeczy
Computer Engineering
- Navigation
- Debugging
Thomas McCollum
Electrical Engineering
- Gun Design
- Platform Assembly
Khanh Nguyen
Computer Engineering
- Light Detection
- Website
Rebecca Rougeau
Electrical Engineering
- Distance
- Hardware
Logan Shannon
Electrical Engineering
- Gun Design
- Targeting
Katie Williams
Electrical Engineering
- PCB Design
- Research
Dr. Robert Reese
Advisor

Outline
● Competition Overview
● System Overview
● Practical Design Constraints
● Technical Design Constraints
● System Testing
● Timeline
● Future Goals

Competition Overview-
The Course
1. Starting Zone
2. Shooting position
3. Target
4. End Zone
Tasks:
-Light/Object Detection
-Accurate Aiming
-Gun Firing
-Autonomous
[1]

Competition Overview-
Format
•
Qualifying Rounds o
Robot must move minimum of 1’ o Pressure must be gauged and approved
•
Competition Round o o
Three 2 minute heats
Heats’ scores are summed together o Top 8 teams advance
•
Final Round o One 2 minute heat under normal judging conditions o Tiebreaker round in the case of tie

Competition Overview-
Scoring
•
25 points - Robot leaves starting position
•
50 points - First correct stop at firing block
•
300 points/block - Dart clears target
•
25 points -Robot stops in end zone
•
1 point/second - Completion under time limit

Outline
● Competition Overview
● System Overview
● Practical Design Constraints
● Technical Design Constraints
● System Testing
● Timeline
● Future Goals

System Design

Robot
1. 4400 mAh Battery
2. Breadboard
3. Linear Actuators
4. Servo-controlled Gun
Platform
5. Line Follower/Ultrasonic
Sensor Mount
6. Motors/RGB Sensor
(underneath)

Outline
● Competition Overview
● System Overview
● Practical Design Constraints
● Technical Design Constraints
● System Testing
● Timeline
● Future Goals

Practical Constraints-
Sustainability
● Battery life far exceeds competition time limit
■
■
300 mA for PIC24H
675 mA for Raspberry Pi Model B with Camera
■
■
■
■
500 mA/each for servos and linear actuators
30 mA for SRF04 Ultrasonic Sensor
100 mA for line follower
3A for motors
○ Battery rating is 4400 mAh
○ Therefore, battery life is approximately 40 minutes
•
Rechargeable battery to reduce cost

Practical Constraints-
Sustainability
•
Durable
•
Plastic used for guns
■ Lightweight (0.64 pounds before modification)
■ Requires strong force to break
■ Repeatable
Accurate after 200+ shots
●
Maximum range approximately same after 200+ shots
●
●
●
Plexiglass Platform
■ 0.25” thick
■ Pivot pressure reduced by aluminum sheet metal
■ Supported by 0.25” all-thread beams
Digital titanium-gear servos

Practical Constraints-
Manufacturability
•
Modular Design o Base o Gun Platform

Practical Constraints-
Manufacturability
•
PCB design o Breakout board

Practical Constraints-
Manufacturability
Open layout for easy part modification or replacement

Outline
● Competition Overview
● System Overview
● Practical Design Constraints
● Technical Design Constraints
● System Testing
● Timeline
● Future Goals

Technical Constraints
Name
Navigation
Light and Location
Detection
Aiming/Dart Firing
Speed
Size
Description
The robot must navigate the course autonomously.
The robot must recognize green start LEDs, shooting blocks, and the finish zone.
The robot must accurately fire 3 darts through a hoop.
The robot must complete the course in < 60 seconds to earn bonus points.
The robot must not exceed 1’x1’x2’ at any point in the competition.

Autonomous
Navigation
•
QTR-8RC reflectance array sensor o 8 sensor pairs o Sense reflected light o PID control algorithm
[2]

Navigation
Displacement on line
Line follower placement on robot
[2]

Navigation

Navigation-
Intersections and Turning
•
All or most sensors show line found
•
Continues forward for a short time before turning left
•
Turn from rightmost sensor detecting line to leftmost sensor detecting line
[2]

Location Detection
•
Line Follower o Blue firing blocks and red end zone seen as white line o Detection same as intersection detection
•
3 second pause
•
180 degree turn

Light Detection
•
Adafruit TCS34725 RGB Sensor o Color light-to-digital converter

Light Detection

Light Detection
RGB sensor mount setup

Aiming-
Distance Sensing
•
Devantech SRF04

Aiming-
Distance Sensing

Aiming -
Dead Reckoning

Aiming-
Center Line

Aiming
•
2 metal gear servos

Dart Firing
•
Nerf N-Strike Elite Firestrike guns
•
Linear Actuators
3 Firgelli Linear
Actuators
Metal Gear Servos

Speed
● 2 minute time limit
○ 6.55 cm/s
● Goal: <1 minute
● With gun platform, course completion approximately 38 seconds with motors running at 55%

Size
•
Robot must fit within a 1’x1’x2’ volume
Length = 10.75”
Width = 9”
Height = 15.75”

Outline
● Competition Overview
● System Overview
● Practical Design Constraints
● Technical Design Constraints
● System Testing
● Timeline
● Future Goals

System Testing
•
Integration of Navigation and Gun systems
•
Verify that robot can: o Navigate autonomously o o o
Detect variable firing position
Aim
Fire dart

Completed Prototype

Outline
● Competition Overview
● System Overview
● Practical Design Constraints
● Technical Design Constraints
● System Testing
● Timeline
● Future Goals

Timeline
Course
Construction and
Strategy
Research and
Purchasing
Programming
August
Debugging
Prototype
September October November December

Outline
● Competition Overview
● System Overview
● Practical Design Constraints
● Technical Design Constraints
● System Testing
● Timeline
● Future Goals

Future Goals
•
Print and Populate PCB

Future Goals
•
Incorporate Camera/Image Processing onto
Prototype for Aiming Calibration
•
Finalize Rainy Day
Case Solutions
•
Optimize Design
[3]

References
[1] IEEE Southeastcon 2014 Student Hardware Competition
Rules. http://ieee.engineering.uky.edu/files/2013/04/Revision2.pdf
.
[2] “Line Tracking Sensors and Algorithms.” IKA Logic [online]. http://www.ikalogic.com/line-tracking-sensors-and-algorithms/ .
Nov. 19, 2013.
[3] “Raspberry Pi Camera Board.” Adafruit Industries [online].
Available: http://www.adafruit.com/products/1367 . Nov. 17, 2013.

Final Presentation