Robotic Artificial Intelligence Toy (R.A.T.)

1
Robotic Artificial Intelligence Toy (R.A.T.)

• CPE 4521 Final Design Presentation
• Presented byShane R. Bright, Erik R. Brown,
• Wing-Seng Kuan, Micheal T. Singleton
• April 24, 2001

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Introduction

• Introduction of Team Theseus
• Background
• Project Objectives
• Timeline
• Design Specifications
• Implementation/Testing of Design
• Conclusion Demonstration

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Introduction of Team Theseus

• Shane Bright
• AI Team Hardware Consultant,
• Web Development,
• Circuitry Design

• Erik Brown
• AI Team Software Development,
• Web Development,
• Preliminary Circuitry Implementation

4
Introduction to Team Theseus

• Wing-Seng Kuan
• Robotics Team Circuitry Consultant

• Micheal T. Singleton
• Robotics Team Chassis Design,
• Final Circuitry Implementation,
• Final Assembly

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Background
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Project Objectives
The main objective of the R.A.T. is to entertain
a pet for an extended period of time without
causing injury to the pet, humans, or the
surfaces and objects in the area where the toy
might be used.
Secondary Objectives Healthy Exercise for
Pet Durability Customer Satisfaction
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Timeline
1/10/2001 First meeting, established
boundaries, outline for the semester
1/22/2001 Adopted OOPic as microcontroller
for project, first chassis design failure
2/14/2001 MiniZ Race Car chassis adopted as RAT
body
2/27/2001 Critical Design Review
3/24/2001 OOPic and sonar interfaced, sonar
program implemented, chassis assembled
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Timeline
4/07/2001 OOPic interfaced with servo, GUIDE
v1.0 was coded implementing servo,
motors, and sonar.
4/21/2001 OOPic program GUIDE v1.1
implemented, correcting flaws in
guidance system
4/22/2001 Motor Controller for chassis
completed, initial tests show voltage
to be too low to power motors
4/23/2001 Chassis modifications are made to
mount sonar and OOPic devices. Motor
Controller prototyping and Voltage Doubler
failed in implementation.
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Design Specifications

• Physical Specifications
• Dimension 5.5 x 2.5 x 2.75
• Weight
• 9V battery 1.7 Oz
• Motor Controller 0.6 Oz
• Chassis 6.8 Oz
• Total 9.1 OZ
• Materials plastic, rubber
• Power Requirement
• Body 6V (4 AAA batteries)
• OOPIC 9V (9 V battery)

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Design Specifications

• Performance Specification
• Speed 10 ft/s
• Sight reacts to objects within three
  feet of sensor
• Battery Life standard life of alkaline
  batteries
• Features obstacle avoidance and memory in
  a small, fast package 
• Economic Specification
• Cost of prototype 300.00
• Cost (production) 29.99 (min), 49.99
  (max)
• Operation costs price of batteries

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Software Specifications

• To avoid obstacles at a distance within 3 feet
  of the R.A.T.
• To turn the servo the desired direction after
  seeing an obstacle and needing to turn
• To move irregularly while a safe distance from
  any obstacles
• To use the stop-and-go procedure while at a safe
  distance from any obstacles for some time

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Software Specifications

• To control the forward and backward motion of
  the motors via the two signal lines connected to
  the motor controller
• To design the controlling interfaces to all
  hardware required to meet the preceding
  specifications

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Design Requirements

• The toy must
• Avoid becoming trapped by obstacles or the pet.
• Move in a way that interests the pet.
• Be durable enough to endure the contact that
  might occur with obstacles and/or the pet.
• Avoid displeasing sounds and visual features.
• Meet minimum requirements for battery life,
  safety, and functional lifetime.

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Design Alternatives(Motors)

• Types DC motors, Servo motors, other
• Motor Considerations
• Torque
• Speed
• Life
• Power requirements, physical size, and price

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Motor Control
Forward
Reverse
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H-Bridge Schematic
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Voltage Doubler Schematic
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Design Alternatives(Controller)

• Types PICs, Basic Stamps, Motorola chips, Intel
  chips
• Considerations
• Programming language(s)
• Downloading/Debugging methods
• Number of I/O Lines
• Memory size
• Power requirements, physical size, price

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Design Alternatives(Sensor)

• Types Infrared Range Finders, Bumper Wire
  Sensors, Temperature Sensors, and Sonar
• Considerations
• Beam pattern
• Distance range
• Interfacing method
• Accuracy
• Physical size, power consumption, and price

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Sonar Implementation/Interfacing
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Implementation of Design
AI Team Implementation Plan
Step 1 Connect OOPic to sonar done/ok
Step 2 Write code to operate sonar done/ok
Step 3 Connect OOPic to Servo done/ok
Step 4 Write code to operate servo done/ok
Step 5 Integrate code samples to control
movement done
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Implementation of Design
Robotics Team Implementation Plan
Step 1 Build motor controller (H-bridge) d
one
Step 2 Assemble chassis done/ok
Step 3 Mount front steering control done/o
k
Step 4 Mount Servo done/ok
Step 5 Mount Motor Controller incomplete
Step 6 Mount OOPic done/ok
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Testing of Design
AI Team Test Plan
Test 1 Test sensitivity of sonar done/ok
Test 2 Test left and right turns done/ok
Test 3 Test forward and reverse control
done/ok
Test 4 Run real simulation in a test
area incomplete
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Conclusion Demonstration
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Demonstration Legend
FORWARD LED
REVERSE LED
SONAR
OOPic Controller
SERVO
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Questions?