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B.L.a.R.R . . Created by: James Buttice Intelligent Machine Design Laboratory Dr. Arroyo Dr. Schwartz 4/8 Spring 2010. Outline. Introduction Behaviors/Tasks Components Sensors Questions and Comments. Behaviors. Main behavior Locate and secure “ bomb” like objects

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B l a r r

B.L.a.R.R.

Created by: James Buttice

Intelligent Machine Design Laboratory

Dr. Arroyo

Dr. Schwartz

4/8

Spring 2010


Outline

Outline

  • Introduction

  • Behaviors/Tasks

  • Components

  • Sensors

  • Questions and Comments


Behaviors

Behaviors

  • Main behavior

    • Locate and secure “bomb” like objects

    • Transport and drop them into the “tube”

  • Other behaviors

    • Collision avoidance

Bomb

Tube


Main behavior

Main Behavior

Goal


Components

Components

  • Platform cut from T-tech machine

  • PVR Xmega128 board

  • 2 x NiMHEnergizer battery packs

  • Toshiba TB6612FNG motor driver (Lab)


Components1

Components

Buzzers

LCD Screen

Power Switch

and LED

Mechanical Arm

Bump Alert LEDs


More components

More Components

Sensor

Bumper

PVR Board

Lighting LED

Power Switch

Front

Wheels

7.2V NiMH

Rechargeable

Battery Pack


Movement

Movement

  • 2 Merkle-Korff Gear Reduction Motors

    • 120RPM at 6Vdc

  • 3.5” Model airplane wheels

  • 1 Ball wheel in rear


Owi robotic arm edge kit

OWI Robotic Arm Edge Kit

  • 3.5oz lifting capacity

  • 4 gear motors

    • 3 joints

    • 1 gripper

  • 3 revolute joints

    • 3 degrees of freedom


Sensors

Sensors

  • Bump Sensors (Tact Switches)

  • Infrared Proximity Sensors

  • CMUcam1


Bump sensors

Bump Sensors

  • Used for collision detection

  • B.L.a.R.R. uses 4

    • 2 independent circuits on each side bumper


Bump sensors1

Bump Sensors

  • Pull down resistor

    • High when switch is pressed

5


Sharp infrared sensor

Sharp Infrared Sensor

  • Model GP2D12

    • Analog

    • Short Range (4 inches to 80 inches)

  • B.L.a.R.R. uses 3

    • Port ADC A/5V

    • Located on front sensor bumper

    • Used for collision avoidance

      and object detection


Sharp ir sensor data

Sharp IR Sensor Data

  • Signal decreases as range increases

Response of GP2D12

Range (cm)

Signal


Cmucam1

CMUcam1

  • Serial Port

  • 17 Frames per second

  • Tracks blobs using measured RGB statistics

    • Green tube

    • Red bombs


Cmucam1 bomb

CMUcam1 - Bomb

RGB Values Used:

Red (min max): 120, 180

Green (min max): 30, 50

Blue (min max):50, 60

Bomb


Cmucam1 tube

CMUcam1 - Tube

RGB Values Used:

Red (min max):40 60

Green (min max):180 240

Blue (min max):90 100


Lighting aid for cmucam1

Lighting aid for CMUcam1

Original

Illuminated

  • 6 Super bright white LEDs

  • +1 on end effecter

  • Can be turned on/off


Future considerations

Future Considerations

  • Better durability

  • Design for easier handling

  • Hide wires better

    • Possibly less wires


Website

Website

http://plaza.ufl.edu/jbuttice/Index.htm


B l a r r

End

Questions or Comments?


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