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SECON Team A
Electrical & Computer Engineering Department
Bull E
Institute of Electrical and Electronics Engineers (IEEE) 2009 Southeastern Conference (SECON)
Hardware Competition
SECON Team A
Electrical & Computer Engineering Department
Outline•Introduction•Problem•Solution•Status: Technical Constraints/Goals
•Improvements•Arms/Servos•PCB•Dog Fence•Tracks•IR Sensors
ProblemHow long?
4 minutesHow big?
Maximum robot dimensions: 12 ” x 12 ” x 18 ” Astroturf field dimensions: 10 ’ x 10 ’
How many?1 to 3 labeled plastic bags
5 aluminum cans10 recyclables 3 plastic bottles
2 glass bottlesHow much?
Correctly sorted can or plastic bottle = 15 pointsCorrectly sorted glass bottle = 30 pointsIncorrectly sorted recyclable = 5 points [1]
{
SECON Team A
Electrical & Computer Engineering Department
SECON Team A
Electrical & Computer Engineering Department
The Field
[1]
The Recyclables
• Total 1.1 lbs• 16% available volume
SECON Team A
Electrical & Computer Engineering Department
Our Solution
SECON Team A
Electrical & Computer Engineering Department
Our Solution
SECON Team A
Electrical & Computer Engineering Department
Team A
Dr. Bryan Jones,
AdvisorThomas
DonaldsonPatrick
DuckworthSteven Austin Davis Grier
Locomotion X X
Object Detection X X
Boundary Detection
X
Object Acquisition X
SECON Team A
Electrical & Computer Engineering Department
Technical Constraint StatusConstraint Description
Minimum Speed Search 100 sq. ft in 4 minutes (~ 8.6 in/sec)
Dimensions 12 “ x 12 “ x 18 “
Power Efficiency Operate for 10 minutes
Acquisition Retrieve aluminum cans, glass bottles, and plastic bottles
Boundary Detection Detect 10 kHz dog fence within 3 inches
SECON Team A
Electrical & Computer Engineering Department
Technical Constraint StatusConstraint Status
Minimum Speed Exceeds
Dimensions Compliant
Power Efficiency Exceeds
Acquisition Compliant
Boundary Detection Compliant
SECON Team A
Electrical & Computer Engineering Department
Environmental
• Robot cannot damage items• Cans/bottles may only suffer structural dents• Glass may not be shattered
• Robot cannot damage the field
SECON Team A
Electrical & Computer Engineering Department
Manufacturability
• “Modularity”
• Software – clean separation, testing
• Hardware – accessible components, spares!
• Will be within dimensions
SECON Team A
Electrical & Computer Engineering Department
Outline•Introduction•Problem•Solution•Status: Technical Constraints/Goals
•Improvements•Arms/Servos•PCB•Dog Fence•Tracks•IR Sensors
SECON Team A
Electrical & Computer Engineering Department
Prototype Arms
PROS CONS
+Very rigid - Difficult to align
+ Did not jam bottles between prongs
- Prongs impaled bottles, cans
- Blocked IR sensor
- Can be jammed by bottle
SECON Team A
Electrical & Computer Engineering Department
Prototype Arm Refinements
• Can sag and block internal IR sensorServos braced to prevent droop
• Some flexibility Reinforced for added rigidity
• Plastic bottle can jam armsInstalled normally-open limit switch
SECON Team A
Electrical & Computer Engineering Department
SECON Team A
Electrical & Computer Engineering Department
Final Arms
PROS CONS
+ Easily fabricated - Flexible
+ Easily aligned - Bottle can jam
+ Do not jam each other
SECON Team A
Electrical & Computer Engineering Department
Printed Circuit Board
SECON Team A
Electrical & Computer Engineering Department
Outline•Introduction•Problem•Solution•Status: Technical Constraints/Goals
•Improvements•Arms/Servos•PCB•Dog Fence•Tracks•IR Sensors
SECON Team A
Electrical & Computer Engineering Department
Dog Fence (Construction)
• Circuit• Antenna• PCB
SECON Team A
Electrical & Computer Engineering Department
Dog Fence (Construction)
• Circuit• Antenna• PCB V+
V-
-
+
50µF
100x10nO
SECON Team A
Electrical & Computer Engineering Department
SECON Team A
Electrical & Computer Engineering Department
SECON Team A
Electrical & Computer Engineering Department
SECON Team A
Electrical & Computer Engineering Department
Dog Fence (Construction)
• Circuit• Antenna• PCB
SECON Team A
Electrical & Computer Engineering Department
Dog Fence (Construction)
• Circuit• Antenna• PCB
SECON Team A
Electrical & Computer Engineering Department
SECON Team A
Electrical & Computer Engineering Department
SECON Team A
Electrical & Computer Engineering Department
Outline•Introduction•Problem•Solution•Status: Technical Constraints/Goals
•Improvements•Arms/Servos•PCB•Dog Fence•Tracks•IR Sensors
SECON Team A
Electrical & Computer Engineering Department
Tracks
Old Design New DesignPlacement & Side Guard
SECON Team A
Electrical & Computer Engineering Department
Packaging: Motors
SECON Team A
Electrical & Computer Engineering Department
IR SensorsPast problems:• Range• Lighting conditions• Accuracy• Color of object• Pulsing
Solution (GP2D120):• Triangulation• CCD array• Light immunity
SECON Team A
Electrical & Computer Engineering Department
Video
SECON Team A
Electrical & Computer Engineering Department
References
[1] Institute of Electrical and Electronics Engineers. Southeastcon 2009 Hardware Competition: The Recycling Robot, 2008 August 28, http://hardware.gtieee.org/southeastcon2009/SoutheastCon-2009-Hardware-Rules.pdf. Accessed September 26, 2008.
SECON Team A
Electrical & Computer Engineering Department
Questions
?