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Building Robot In A Simple Way Case study: Robot Colony Sunarto Quek Ngee Ann Polytechnic Content Technology domains in solving robotic problems Case study: Robot Colony Collecting pellets Differentiating pellets Searching pellets Locating disposing area Conclusion Q&A

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building robot in a simple way

Building Robot In A Simple Way

Case study:

Robot Colony

Sunarto Quek

Ngee Ann Polytechnic

content
Content
  • Technology domains in solving robotic problems
  • Case study: Robot Colony
    • Collecting pellets
    • Differentiating pellets
    • Searching pellets
    • Locating disposing area
  • Conclusion
  • Q&A

Sunarto Quek, Ngee Ann Polytechnic

technology domains
Technology Domains
  • Robotic problems
    • Can be solved at different technology domains
  • Example
    • To align an object for grabbing
      • Mechanical domain – use mechanical guide
      • Electronic domain – use sensors
      • Computation domain – use vision
  • Lower vs Higher domain
    • Lower (mechanical) is simpler but less flexibility

Sunarto Quek, Ngee Ann Polytechnic

case study robot colony
Case Study: Robot Colony
  • Objective
    • To collect pellets of two different colours and dispose them at their designated place
  • Tasks
    • To search pellets
    • To collect pellets
    • To differentiate pellets
    • To locate disposing area and dispose the collected pellets

Sunarto Quek, Ngee Ann Polytechnic

collect pellet
Collect Pellet
  • Subtask 1
    • To align gripper with pellet
  • Solution
    • Use mechanical guide
  • Use vision?
    • May not be accurate due to:
      • Uneven colour of a pellet
      • Uneven surrounding light and shadow
      • Several pellets lump together

Sunarto Quek, Ngee Ann Polytechnic

collect pellet6
Collect Pellet …
  • Subtask 2
    • To hold pellet
  • Solution
    • Use mechanical gate
  • Use motors?
    • Could be better but extra cost, programming and circuitry

Sunarto Quek, Ngee Ann Polytechnic

differentiate pellet
Differentiate Pellet
  • Use vision or colour detector?
    • Expensive and may not be accurate due to shadowing and uneven colour and lighting
  • Use simple infrared sensor
    • Notice that blue pellets are much brighter than green pellets
    • Differentiate by reflected intensity

Sunarto Quek, Ngee Ann Polytechnic

search
Search
  • Subtask 1
    • To detect nearby pellets
  • Solution
    • Two infrared sensors, each looks on the left and right side of the robot
    • Front sensors not needed as pellet in front will be collected as the robot move forward
  • Vision?
    • Better but must take care of lighting problem

Sunarto Quek, Ngee Ann Polytechnic

search9
Search …
  • Subtask 2
    • Cover unexplored area
  • Solution
    • Go to centre and circle out
    • Continue from last position after disposing pellet
  • Mapping the arena?
    • Need accurate localization
    • But not many good landmark

Sunarto Quek, Ngee Ann Polytechnic

locate disposing area
Locate Disposing Area
  • Subtask
    • To find robot’s orientation
  • Solution
    • Ensure each turning is about 90 deg
    • Remember the orientation
    • Error can be corrected by aligning sensors to line
  • Compass?
    • Better, but must take care of surrounding magnetic field

Sunarto Quek, Ngee Ann Polytechnic

locate disposing area11
Locate Disposing area …
  • Once orientation is found
    • Robot is at the border
    • Turn 90 deg and move until the outer front base sensor detect lines
    • Disposing area is then located

Sunarto Quek, Ngee Ann Polytechnic

conclusion
Conclusion
  • A simple robot colony was built
    • No motor required for collecting pellet
    • Simple IR sensor to differentiate pellets
    • Strategic sensor placement to maximize pellets searching
  • Robot can be built in a simple way
    • By looking for solutions at lower technology domain

Sunarto Quek, Ngee Ann Polytechnic