1 / 19

MIR – Mobile Intelligence Robot

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.

brede
Download Presentation

MIR – Mobile Intelligence Robot

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. By Jason Abbett and Devon Berry MIR – Mobile Intelligence Robot

  2. Project Introduction Build and program a robot Competition Requirements Size & Weight Safety Autonomous Competition Goals Accuracy Successful Task Completion Avoid Penalties Speed

  3. Competition Task Specifics Four Cans One Can per Incoming Room Different Colored Cans Different Colors to Different Rooms

  4. Competition Specifics Virtual Walls & Ceiling Best of Two Rounds Fastest Six Teams to Final Three Workers with Colored Coveralls

  5. Team Organization CS Team Jason Abbett Devon Berry ECE Team Michael Hall Jeff Croxell Eddie Inlow

  6. Hardware Design Outputs Four Motors Five Servos Inputs Three Light Sensors Three Sonar Sensors Two Optical Mice One CMU Camera

  7. Initial Plan Use Line Following Light Sensors (Adjust Motors) Mouse & Compass (Backup) Use Vision for Rooms CMU Camera (ID & Center) Sonar (Grab)

  8. 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)

  9. Software Design Main Module Sensor Fusion High Level Modules Control System Navigation System Arm States Grab Can Low Level Modules Input Interfaces Output Interfaces

  10. 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

  11. Track Testing Half of total project time Several runs on track after each new code implementation

  12. Integration Testing Integrate module into main function Do track test again

  13. Project Timeline

  14. Day Before Competition Practice board in hotel Sign up for 30 minute slot Completed course twice Only three teams completed track

  15. 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

  16. 2nd Run Exceeded time limit Obtained one penalty Did not attempt to pick up one can (20sec) Placed 9th out of 37

  17. Afterthoughts Claw worked great but was too much for this particular competition More light sensors Smaller platform and wheels

  18. Demo

  19. Questions

More Related