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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. 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 .

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  1. B.L.a.R.R. Created by: James Buttice Intelligent Machine Design Laboratory Dr. Arroyo Dr. Schwartz 4/8 Spring 2010

  2. Outline • Introduction • Behaviors/Tasks • Components • Sensors • Questions and Comments

  3. Behaviors • Main behavior • Locate and secure “bomb” like objects • Transport and drop them into the “tube” • Other behaviors • Collision avoidance Bomb Tube

  4. Main Behavior Goal

  5. Components • Platform cut from T-tech machine • PVR Xmega128 board • 2 x NiMHEnergizer battery packs • Toshiba TB6612FNG motor driver (Lab)

  6. Components Buzzers LCD Screen Power Switch and LED Mechanical Arm Bump Alert LEDs

  7. More Components Sensor Bumper PVR Board Lighting LED Power Switch Front Wheels 7.2V NiMH Rechargeable Battery Pack

  8. Movement • 2 Merkle-Korff Gear Reduction Motors • 120RPM at 6Vdc • 3.5” Model airplane wheels • 1 Ball wheel in rear

  9. OWI Robotic Arm Edge Kit • 3.5oz lifting capacity • 4 gear motors • 3 joints • 1 gripper • 3 revolute joints • 3 degrees of freedom

  10. Sensors • Bump Sensors (Tact Switches) • Infrared Proximity Sensors • CMUcam1

  11. Bump Sensors • Used for collision detection • B.L.a.R.R. uses 4 • 2 independent circuits on each side bumper

  12. Bump Sensors • Pull down resistor • High when switch is pressed 5

  13. 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

  14. Sharp IR Sensor Data • Signal decreases as range increases Response of GP2D12 Range (cm) Signal

  15. CMUcam1 • Serial Port • 17 Frames per second • Tracks blobs using measured RGB statistics • Green tube • Red bombs

  16. CMUcam1 - Bomb RGB Values Used: Red (min max): 120, 180 Green (min max): 30, 50 Blue (min max): 50, 60 Bomb

  17. CMUcam1 - Tube RGB Values Used: Red (min max): 40 60 Green (min max): 180 240 Blue (min max): 90 100

  18. Lighting aid for CMUcam1 Original Illuminated • 6 Super bright white LEDs • +1 on end effecter • Can be turned on/off

  19. Future Considerations • Better durability • Design for easier handling • Hide wires better • Possibly less wires

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

  21. End Questions or Comments?

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