P14215 AUTONOMOUS WANDERING AMBASSADOR Michael Gambino – Hardware Specialist Nick Nguyen – Software/ Hardware Specialist Apurva Shah – Project Leader Peichuan

P14215 AUTONOMOUS WANDERING

AMBASSADOR

Michael Gambino – Hardware Specialist

Nick Nguyen – Software/ Hardware Specialist

Apurva Shah – Project Leader

Peichuan Yin – Electrical Specialist

Overview Design Constraints &Risk Schedule Test Result &

Future

What is the project about?

PROJECT OVERVIEW

The objective of this project is to modify a currently remote controlled robot so that it should have the capability to navigate autonomously without causing harm to any person or damaging any objects in its path.


Future

CUSTOMER REQUIREMENTS

Customer Rqmt. # Importance Description Comments/Status

CR1 10 Detect RFID tags Use RFID tags to use tracking of zones on the robot

CR2 9 Avoid ObstaclesUse different sensors so the robot can navigate through

obstacles

CR3 6 Move at human walking speed Using a different gear ratio

CR4 7 Allow user interactionEssentially put some sort of camera on the robot for

streaming

CR5 10 Test P13215 specifications Gain familiarity with all boards

CR6 10Move autonomously from one

point to another Avoid obstacles when moving to a different RFID tag

CR7 9 Manual Control Adapt remote control using a PS2 controller

CR8 8Compute fastest route to the

next RFID tags Use arduino math to compute fastest route


Future

ENGINEERING REQUIREMENTS

rqmt. # Importance Source Function Engr. Requirement Unit

S1 8 CR3 Robot Speed Speed of about 0.3 m/s m/s

S2 8 CR1 RFID Unit Able to recognize robot's location

S3 10 CR2 IR Sensors (short range)Able to detect object from 0 to 1

feet V/m

S4 9 CR2 Sonar Detection

Robot functions as expected when an object obstructs the path of the

robot. in

S5 9 CR5 Verify robot's current functionality revise and verify the code 　

S6 4 CR4 Webcam systemStream video at least 30 fps at

720p bit/sec

S7 8 CR6 Controls accuracy

Ensure that turning and distance traveled are accurately monitored

by robot mm

S8 　 CR6, CR8 Pathing systemable to calculate the shortest path

in give area 　

S9 　 CR7 Control system improvementlong range control system without

delay or interupt m


Future

FUNCTION DECOMPOSITION


Future

SYSTEMS DESIGN


Future

BUDGET CONSTRAINTSItem Distributor Quantity Unit Cost Total cost

PN532 NFC/RFID controller breakout board Adafruit.com 1 39.95 $ 50.73

Encoder Opt. Rotary 64PPR digikey.com 2 25.55 $ 58.28

TI LED Lighting Drivers Mouser.com 2 4.26 $ 27.06

Arduino Micro Adafruit.com 1 22.95 $ 30.66

LSM303D 3D Compass and Accelerometer Pololu.com 1 14.95 $ 24.40

SRF02 Ultrasonic Ranger www.robot-electronics.co.uk 6 15.99 $ 135.88

Teensy 3.1 Sparkfun.com 2 19.95 $ 39.90

AltIMU-10 Gyro, Accelerometer) Pololu.com 1 17.95 $ 17.95

Infrared Proximity Breakout - VCNL4000 Sparkfun.com 1 9.95 $ 9.95

74AHCT125 - Quad Level-Shifter (3V / 5V) Adafruit.com 5 1.5 $ 7.50

MiFare Classic (13.56MHz RFID/NFC) Clear Tag Adafruit.com 25 2.25 $ 65.87

Rocker Switch (RadioShack) RadioShack 1 4.76 $ 4.76

5V voltage regulator LM7805CT Mouser.com 10 0.46 $ 4.60

PNP MOSFETS Mouser.com 10 0.912 $ 9.12

NPN MOSFETS Mouser.com 10 0.842 $ 8.42

Quad 2-Input OR logic IC Mouser.com 10 0.354 $ 13.14

Sharp Ananlog Distance Sensor 10-150cm, 5V Pololu.com 12 10.95 $ 136.85

ADS1015 12BIT 4 Channel ADC Adafruit.com 4 9.95 $ 53.64

Total $698.71

http://www.pololu.com/product/2127





Future

RISK ASSESSMENT

ID Risk Item Effect Cause

Likelihood

Severity

Importance Action to Minimize Risk Owner

Describe the risk briefly

What is the effect on any or all of the project

deliverables if the cause actually happens?

What are the possible cause(s) of this risk?

L*S

What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the

risk of this occurring?

Who is responsible for

following through on mitigation?

1

Speed Feature

If the robot is too fast we may not be able to brake quickly. Potential danger.

Possibly injury to people and damaging objects

3 3 9 Reduce the speed of the robot, but also travel at an optimal speed.

Hardware Specialist

2Failure of sensors

Possibly run into an object or person.

Robot malfunctions and causes damage to sensors. 2 3 6

Make sure all code is monitoring properly and have back up sensors.

Software Specialist

3

Failure to find

location of robot

Possibly lost robot or final destination not

reached.

RFID positioning fails or RFID sensor frequency is not

strong enough. Encoders fail. 2 2 4

Make sure encoders are functioning. Test the strength of signal for RFID. Project Leader

4Battery Failure

Robot will not move. Need new battery Life cycle 2 2 4 Plan for battery failure Manufacturer

5 Budget Ask for more money Poor planning 1 2 2 Plan better and be efficient. Project Leader

6Knowledg

e Not be able to complete

task Aiming too high 2 3 2 Understand our knowledge and learning curve Everyone

7Motivation, Desire Not wanting to work Team problems 1 2 2

Talk through problems and keep asking questions Everyone


Future

SCHEDULE


Future

SCHEDULE

MSD I

Review and Design

Concept Evaluation

Manual Control

Imagine RIT

MSD II

Sensors Implementation

Autonomous Function Design

Debug and Test

Documentation


Future

SENSORS INSTALLATION

Sonar x6

IR x10

Encoder x2

Camera

RFID

IMU


Future

SENSOR VERIFICATION

Inches Raw Data

1 593

2 873

3 860

4 735

5 599

6 519

7 483

8 437

9 399

10 352

15 214

20 133

25 112

30 93

0 100 200 300 400 500 600 700 800 900 10000

5

10

15

20

25

30

35

f(x) = 31.4966541476034 exp( − 0.00325992975052949 x )R² = 0.775111743244498

Raw Data

Raw Exponential (Raw)

Raw Output

Dis

tance

(in

ch)


Future

END USER INTERFACE


Future

FUTURE OPPORTUNITIES

Outdoor Navigation

Facial Recognition

User Interaction

Extend RFID Range

More

THANK YOUQ & A

Documents

P14215 AUTONOMOUS WANDERING AMBASSADOR Michael Gambino – Hardware Specialist Nick Nguyen – Software/ Hardware Specialist Apurva Shah – Project Leader Peichuan