by jason abbett and devon berry n.
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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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Presentation Transcript
project introduction
Project Introduction

Build and program a robot

Competition Requirements

Size & Weight



Competition Goals


Successful Task Completion

Avoid Penalties


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


Four Motors

Five Servos


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



Main Function

High Level

Low Level

Optical Mice

Navigation System

Control System


Arm States


Sensor Fusion

Grab Can



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

day before competition
Day Before Competition

Practice board in hotel

Sign up for 30 minute slot

Completed course twice

Only three teams completed track


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


Claw worked great but was too much for this particular competition

More light sensors

Smaller platform and wheels