Tony Soprano: “Waste Management”

Final PresentationSalvatore Torre

11/25/2008

Introduction

• Tony Soprano: “Waste Management” is an autonomous recyclable material seeking robot.

• Recyclable material:

Drive System

- 2 DC Motors supplied with 12 V optically isolated- Driven by two motor driver boards

1. Supplies the power2. Controls direction & isolation

Collision Avoidance

• 4 IR Proximity Sensors mounted on the each side and embedded at the front of the dozer

SONAR Array

• Used to search for recyclable materials and to avoid obstacles

The “Shutter”

• The “Shutter” is what traps the recyclable• Controlled by 1 servo motor

Special Sensor Array

Sorting Bins

• Once Tony has the recyclables he sorts them into 1 of 3 bins controlled by two servo motors

Dozer Lift

• The dozer lift physically picks up the recyclable and delivers it to the sorting bins

Conclusion

• Tony navigates an environment in search of glass, plastic, or aluminum recyclable materials.

• Once he finds something, he uses his shutter to trap it.

• The reflectance sensor array classifies the recyclable as either glass, plastic, or aluminum

• The Dozer Lift carries the recyclable to the bins• The bins sort the recyclable

Future Work

• Perfecting the Dozer Lift

• Perfecting the search with the SONAR array

Tony Soprano: “Waste Management”