Robotics

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Robotics

• Proposal 1
• Proposal 2
• Handy Board
• Body and Locomotion
• Sensors

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Robotics

• Proposal 1
• Proposal 2
• Handy Board
• Body and Locomotion
• Sensors

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Proposal 1

• Our Group - John and Patrick
• Desired abilities
• Hardware and parts
• The Design
• Wrap-up

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Proposal 1

• Desired Abilities of our Robot
• move
• evade objects
• follow objects
• react on "speech" control
• record pictures / transmit these to a PC
• keep track of where it is going
• go to a designated point in reaction to an event

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Proposal 1

• Desired Abilities of our Robot- con't
• detect the presence of a human being
• battery-level sensing
• detect light intensity
• remember obstacles (only not human ones) and try
  to avoid them
• avoid falling off a table

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Proposal 1

• Hardware and Parts
• 1 chassis
• 2 independently-driven motors to move the robot
• 2 independently-driven motors to allow
  semi-sphere rotation of the web-cam
• 1 web-cam with auto focus
• 4 obstacle measurements sensors (near-infrared
  proximity detectors) digital

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Proposal 1

• Hardware and Parts-con't
• 2 range measurements sensors (near-infrared range
  sensors or sonar) digital
• 1 light sensor (phototransistor or photodiode)
  analog
• 1 microphone analog
• 1 pyroelectric sensor analog
• 1 tilt sensor (mercury switch) digital

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Proposal 1

• Hardware and Parts-con't
• 1 near-infrared range sensor (for falling off
  detection) digital
• 2 shaft encoders digital
• 4 force sensors (micro switches or bend sensors)
  analog
• 1 gyro digital
• 1 battery-level sensor

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Proposal 1

• The Design
• Aluminium chassis
• Wheels
• Drive Motors
• Camera (semi-sphere)
• The Various Sensors

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Robotics

• Proposal 1
• Proposal 2
• Handy Board
• Body and Locomotion
• Sensors

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Project Proposal
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What do we want to do?

• Build an autonomous robot
• Create a robot that isnt lame
• Develop hardware to accomplish a task
• Program software to automate actions
• Finish an interesting and working robot

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What do we want the robot to do?

• Stalker-Bot
• Autonomous Capabilities
• Acquire target
• Follow target
• Avoid obstacles
• Broadcast video
• Find new target if target is lost
• Search and Destroy?

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Resources

• Handy Board CPU
• Talrik Junior Body
• Sensors
• Impact Sensors
• Infrared Sensors
• Pyroelectric Sensor
• Camera

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The Final Plan

• Functions of Stalker-Bot
• Rotate to acquire target in sensors
• Approach target
• Maintain set distance with target
• If it runs into an obstacle, navigate around it,
  and acquire a new target

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Measuring Accomplishment

• The success of this robot will be determined by
  how well it operates.
• Finding targets
• Following targets
• Avoiding obstacles

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Robotics

• Proposal 1
• Proposal 2
• Handy Board
• Body and Locomotion
• Sensors

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Handy Board

• Convenient robot controller
• The brains of the robot
• Controls every action that the robot performs
• Powered by a Motorola MC68HC11A8 chip

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Motorola MC68HC11A8

• 8-bit microcontroller unit (MCU)
• Bus speed of 2 MHz
• One of the most popular MCUs used for robots

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Peripheral Info

• Handy Board has many input/output abilities that
  make it useful to a robot designer
• 2 L293D chips that can drive up to 4 DC motors
• Inputs for 7 analog sensors and 9 digital sensors
• Oscillator and receiver for 38kHz infrared I/O

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Programming

• We communicate to the CPU through Interactive C
• Allows us to compose instructions on a host
  computer and send them to the board.
• Visual LCD display on the Handy Board provides
  output that lets us see how effectively our
  programs are being executed.

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Robotics

• Proposal 1
• Proposal 2
• Handy Board
• Body and Locomotion
• Sensors

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Body and Locomotion
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Bodies

• Main infrastructure to hold everything together
• Can be made out of almost anything
• Design is limited only by imagination

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Body Materials

• Metals
• Advantages
• Reasonably cheap
• Strong
• Reasonably easy to work with (aluminum)
• Disadvantages
• May not look very good (poor finish, scratches)
• Heavy
• Electronically conductive

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• Plastics
• Advantages
• Looks good, wide variety of colors
• Can be easily shaped/molded
• Electrically insulative
• Disadvantages
• Can easily damage when drilling (shattered)
• Can easily melt if not careful
• Hard to get a hold of in desired form (sheet)

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• Woods
• Advantages
• Easy to work with
• Universally available
• Cheap
• Strong
• Disadvantages
• Can warp
• Flammable
• Doesnt look very good

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Locomotion

• Wheels
• Cheap
• Easy to design/implement
• Most popular
• Perform poorly on uneven terrain
• Flight
• Dangerous
• Very hard to design
• Expensive

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• Walking
• Can overcome rugged terrain
• Costly
• Walking mechanisms are complex/more prone to
  failure

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Robotics

• Proposal 1
• Proposal 2
• Handy Board
• Body and Locomotion
• Sensors

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Sensors

• Force Sensors
• Light Sensors
• Sound Sensors
• Proprioceptive Sensors
• Position and Orientation

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Force Sensors

• Microswitches
• Bend Sensors
• Force-Sensing Resistors
• Rubbery Ruler

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Light Sensors

• Photoresistors, Phototransistors, Photodiodes
• Near-Infrared Proximity Detectors
• Near-Infrared Range Sensor
• Pyroelectric Sensors
• Ultraviolet Sensors
• Cameras

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Sound Sensors

• Microphones
• Sonar
• Piezoelectric Film Sensors

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Proprioceptive Sensors

• Battery-Level Sensing
• Temperature
• Stall Current Sensing

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Position and Orientation

• Tilt Sensors
• Compasses
• Gyros
• Shaft Encoders

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Robotics

• Proposal 1
• Proposal 2
• Handy Board
• Body and Locomotion
• Sensors