By jason abbett and devon berry
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By Jason Abbett and Devon Berry. MIR – Mobile Intelligence Robot. Project Introduction. Build and program a robot Competition Requirements Size & Weight Safety Autonomous Competition Goals Accuracy Successful Task Completion Avoid Penalties Speed. Competition Task Specifics.

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MIR – Mobile Intelligence Robot

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By jason abbett and devon berry

By Jason Abbett and Devon Berry

MIR – Mobile Intelligence Robot


Project introduction

Project Introduction

Build and program a robot

Competition Requirements

Size & Weight

Safety

Autonomous

Competition Goals

Accuracy

Successful Task Completion

Avoid Penalties

Speed


Competition task specifics

Competition Task Specifics

Four Cans

One Can per Incoming Room

Different Colored Cans

Different Colors to Different Rooms


Competition specifics

Competition Specifics

Virtual Walls & Ceiling

Best of Two Rounds

Fastest Six Teams to Final

Three Workers with Colored Coveralls


Team organization

Team Organization

CS Team

Jason Abbett

Devon Berry

ECE Team

Michael Hall

Jeff Croxell

Eddie Inlow


Hardware design

Hardware Design

Outputs

Four Motors

Five Servos

Inputs

Three Light Sensors

Three Sonar Sensors

Two Optical Mice

One CMU Camera


Initial plan

Initial Plan

Use Line Following

Light Sensors (Adjust Motors)

Mouse & Compass (Backup)

Use Vision for Rooms

CMU Camera (ID & Center)

Sonar (Grab)


Actual implementation

Actual Implementation

Use Line Following Straight

Light Sensors (Adjust Motors)

Mouse (Trigger)

Use Navigation System Turning

Mouse (Distance)

Control System (Motor PID Control)

Use Sound for Rooms

Sonar (Center & Grab)

CMU Camera (ID)


Software design

Software Design

Main Module

Sensor Fusion

High Level Modules

Control System

Navigation System

Arm States

Grab Can

Low Level Modules

Input Interfaces

Output Interfaces


Structure diagram

Structure Diagram

Legend

Output

Main Function

High Level

Low Level

Optical Mice

Navigation System

Control System

Motors

Arm States

LightSensors

Sensor Fusion

Grab Can

CMUCamera

Servos

Sonar Sensors


Track testing

Track Testing

Half of total project time

Several runs on track after each new code implementation


Integration testing

Integration Testing

Integrate module into main function

Do track test again


Project timeline

Project Timeline


Day before competition

Day Before Competition

Practice board in hotel

Sign up for 30 minute slot

Completed course twice

Only three teams completed track


Competition

Competition

Each team had two runs on the track

After first run

One 20 sec penalty for not attempting to grab one of the cans

Placed 2nd out of 37


2 nd run

2nd Run

Exceeded time limit

Obtained one penalty

Did not attempt to pick up one can (20sec)

Placed 9th out of 37


Afterthoughts

Afterthoughts

Claw worked great but was too much for this particular competition

More light sensors

Smaller platform and wheels


Mir mobile intelligence robot

Demo


Questions

Questions


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