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Robot Integration and Testing. Pat Arrigo – Team Lead/ME Wes Coleman – ME Steve Guenther – EE Adam Spirer – EE Vernon Vantucci – CE Aaron Zimmerman - ME. Introduction. Third Team on Project Track Inherited Project from Locomotion and Navigation Teams - PowerPoint PPT Presentation
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Robot Integration and Testing
Pat Arrigo – Team Lead/MEWes Coleman – ME
Steve Guenther – EEAdam Spirer – EE
Vernon Vantucci – CEAaron Zimmerman - ME
Third Team on Project Track
Inherited Project from Locomotion and Navigation Teams
Worked in parallel with Robot Applications Team
Introduction
Fully Integrate Navigation Software/Electrical Components with Locomotion Chassis and Motors/Motor Control
Test Customer Specifications Integrate Robot with Application Team’s
Software Create and Mount shell to Chassis and Paint
Initial Project Expectations and Goals
Customer Needs and Specifications
P10215 P10216
Robot carries and cares for a plant
Robot moves slowly Promotes innovation and
green values at RIT Friendly to passing
pedestrians Must be able to return
home Last an entire day of
roaming
◦ System uses navigation and plant sensors in order to capture real-world data, and gain an understanding of the surroundings.
◦ Develop firmware for all of the sensors.
◦ Develop software to perform navigational tasks using sensor data.
◦ Maintain a wireless connection to a host computer in order to send status updates.
System Architecture
BeagleBoard
MSP430 MSP430 MSP430
Motor H-Bridges
Motor Encoders
Plant Sensor Cluster
Navigation Sensor Cluster
Small model used to prove concept
Sculpting full scale took longer than expected◦ Sheer scale◦ Material Differences: Styrofoam vs.
Pink foam Despite delays, shell is
complete and painted
Shell Creation
Navigation Team components and Locomotion Motor Controllers did not work properly◦ Majority of MSD II spent on debugging and fixing
Robot was not fully functional until ~Week 8◦ Testing of Specifications was not done due to time
constraints (suggested for future teams)
Major Setbacks
Item Vendor QuantityCost Total P/N
Triple Axis Acclerometer Breakout ADX6345 SparkFun 1 $27.95 $27.95 SEN-09156MSP430F6111 Header Board SparkFun 2 $34.95 $69.90 DEV-0047Straight Breakaway Headers SparkFun 4 $2.50 $10.00 PRT-00116Female Breakaway Headers SparkFun 4 $1.50 $6.00 PRT-00115
1 gallon + 42.6 oz 3:1 Epoxy Resin Kit US Composites 1 $61.00 $61.00 EPOX-6353143:1 Ratio Pumps (2pk) US Composites 1 $6.25 $6.25 EPX-P31
10z E-Glass Plain Weave, 38" w, .0154" thk US Composites 15 $5.55 $83.25 FG-c1038
Encoder cable US Digital 3 $10.30 $30.90 CA-MIC3-SH-NC-1
USB 2 Serial-USB Adapter Amazon 2 $14.58 $29.16 B0006LSIOISandisk 4GB SD Amazon 2 $6.33 $12.66 B000PA1073A
DS Breadboard PCB, 1160 holes Sure Elec. 5 $0.89 $4.45 CS-BP008
Hitachi HM55B Compass Module Parallax Inc. 1 $29.99 $29.99 21923
Butt Connectors- Crimp WalMart 1 $4.18 $4.18 003749582220Female Spade Connectors WalMart 1 $1.98 $1.98 003749582228Male Spade Connectors WalMart 2 $1.38 $2.76 003749582227
Mold SuppliesWes Coleman (HD) $160.00
Misc. Hardware Pat Arrigo (HD) $50.00
TOTAL: $590.43
Week 1 ◦ Initial shell design finalized,
components purchased Week 2
◦ Evaluation of Locomotion/firmware “bugs”
Week 4◦ Header board completion
Week 5◦ Sensors remounted◦ Shell Top & Front complete
Week 6◦ New encoder design integrated◦ H-Bridge functionality solved
Milestones- MSDII Week 7
◦ Shell components test fit, trimmed
◦ Shell top, front, sides painted◦ Remote Control implemented via
gamepad Week 8
◦ Remote Control finalized◦ Shell top mounted◦ Plant, solar panels mounted◦ ImagineRIT
Remote Control verified Battery charge expectancy verified
Week 9◦ Shell front mounts made
Robot is capable of meeting all locomotion-related requirements Sensor Data Acquisition
◦ Compass data not being translated correctly◦ All other positional and plant sensors reporting data correctly
Shell◦ Shell pieces made◦ Top & Front trimmed for fit and sensor/plant clearance◦ Top mounted in final location◦ Front mounts made, not yet attached to chassis◦ Rear & sides unmounted, untrimmed◦ All pieces painted with design scheme
Formal Platform Testing◦ Originally a project requirement◦ Platform reconstruction took precedence◦ Formal test plan methodology developed◦ No formal test plans run◦ ImagineRIT platform validation
Current State of Design
Test customer specifications (velocity, turning radius etc.)
Powder coat the chassis to prevent rust Purchase printed circuit board Integrate Application software with current
Robot (to make autonomous) Add 2 more rear Sonar Sensors
◦ To guard against the back end of Robot bumping into things as it turns
Suggestions for Future Teams
Number of Original Project Goals Met: 0
Number of Robots Created: 1
Senior Design Course: 0
Senior Design Team: 1
Summary
Recommended