Mark Randall & Kevin Claycomb Faculty Advisor: David Mitchell Industrial Sponsor: IEEE

1. IEEE ROBOT 2006 Mark Randall & Kevin Claycomb Faculty Advisor: David Mitchell Industrial Sponsor: IEEE

2. Introduction • 2006 IEEE SouthEastCon Hardware Contest. • All schools located in the Southeast IEEE Region • Robot must sort and deliver packages to different locations under a time constraint

3. Problem Definition • Build a mobile robot • Robot must perform the tasks necessary to compete in the contest • Follow the line • Picking up a package • Take it to a plane • Drop the package off

4. Constraints of the Project Due to Contest Rules • Time Constraint • 1st Plane Leaves after 3 min. • 2nd Plane leaves after 4 min. • 3rd Plane leaves after 5 min. • The robot must deliver all 12 packages in five min. • Size Constraint • The robot must fit into an 8”x8”x12” box at the beginning and end of each round. • The robot may expand to a maximum size of 14”x14”x20” while completing the task. • Robot must be completely autonomous

5. Objectives • Line following hardware • Drive motor control hardware • Line following/motor control software • Barcode reader hardware • Barcode reader interface software • Gripper hardware • Gripper control software • State machine software implementation

6. Mechanical • Polycarbonate base • Construct for maximum possible size limits (8 X 8) • Two polycarbonate motor mounts for differential drive. • 2 wheels with rear track ball

7. Computer Platform • 8051 based microcontroller design • Two 8 channel A/D converters for sensor input • Two motor control outputs • Two inputs for feedback capture

8. The Brains • Atmel 89C51ED2 @ 40MHz • 68 pin package • 6 I/O ports • 64K Flash • 1 UART for serial communication • 5 PWM modules • 16 bit address bus • 3 16 bit up counters

9. Mobility • Two Maxon A-max motors • 6630 RPM (no load) • 15.1 mNm (stall torque) • Spurhead gear box • 1/32 gear ratio • shaft speed 207 RPM • Output torque 483 mNm • Optical encoders • Quadrature output • 100 pulses/rev

10. Motor Drive Circuitry • Two Texas Instruments 3 amp full H-bridge ICs • TPIC108B • Driven with pulse width modulation • Complete power system isolation

11. SENSORS • Line detection • Bar code scanning • Ranging

12. Line Detection • 8 channel A/D converter • 8 NPN photodetector / IR emitter pairs • Daylight filter 3”

13. Barcode Scanners • RS-232 interface • ASCII output • POS-X1000 not adequate • IEEE recommended • IDTECH scanner found to be a better choice

14. IR Ranging Sensors • IR detector / emitter pairs • Sharp GP2D variant • Two models • Long Range (4”-30”) • Short Range (1.5” – 12”) • Used for distance ranging and squaring the robot

15. Handling Mechanism (Gripper) • Constructed to handle the blocks • Servo driven • Two axis of control

16. Software • Developed with Keil PK51 IDE • State and feedback based autonomy • Low level functions entirely interrupt driven • Modular design approach • Built in debug subsystem

17. Autonomy Overview • Location oriented decision making • I’m here, what’s next? • Static routes preprogrammed • Feedback oriented design allows for static routes to be somewhat dynamic

18. Control Subsystem • Interrupt driven PD speed control • 10ms control loop execution • Line and Sharp sensor integration • Proportional control

19. Data Acquisition • Two A/D converters • Line Following Board • On Board Auxiliary D/A • Line Board sampling at approx 100us • Aux D/A sampling at approx 30ms • 3 Sharp IR analog sensors

20. Results WE WON!

21. Questions?