juan david rios – graduate student ece imdl fall 2012 dr. a. antonio arroyo - eric m. schwartz...
TRANSCRIPT
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AlienBot project
Juan David Rios – Graduate Student ECEIMDL FALL 2012Dr. A. Antonio Arroyo - Eric M. SchwartzNovember 29/2012
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Summary
1. General design Global structure of AlienBot
2. Hardware – Final components Components of the robot
3. Behaviors and software Explanation of the behaviors and the
software4. Conclusions
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General design
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Hardware
Energy sources
Lipo battery – 5000 mAh
Lipo battery – 2200 mAh
Drivers
H bridge MC33926
Power regulator6Vdc
NPN Transistor2N2222
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Mechanical components
Sensors
Metalgear motor100 rpm
Pan/tilt system
Futaba servo 3004
Bluetooth module
IR array sensor
Ultrasonic module
HTC one S camera
MC33926 – Current sensorLaser pointer
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Main devices Feedback devices
Arduino mega ADK
HTC one S
Lenovo laptop
Laptop display
Laptop speakers
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Behaviors and software
Behaviors and precedence:
1) Avoid obstacles2) Color tracking3) Line tracking4) Move forward
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Obstacle avoidance
The ultrasonic modules are the key component of this behavior
L F R Action0 0 0 Nothing0 0 1 Turn left and move forward
0 1 0Move backwards, then turn (left or right) randomly and move forward
0 1 1 Turn left and move forward1 0 0 Turn right and move forward
1 0 1Move backwards, then turn (left or right) randomly and move forward
1 1 0 Turn right and move forward
1 1 1Move backwards, then turn (left or right) randomly and move forward
Threshold: 20 cm
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Line tracking
Using an array of 8 IR sensors A digital PD algorithm was used to
control this behavior.
Readline value Meaning0 Line is over sensor 1
1000 Line is over sensor 22000 Line is over sensor 32500 Line is between sensor 3 and 47000 Line is over sensor 8
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Color tracking
Color detection using Python and OpenCV with a smartphone camera. Servos controlled by Arduino.
Condition ActionErrorx<0 Move right (pan servo)Errorx>0 Move left (pan servo)Errory<0 Move down (tilt servo)Errory>0 Move up (tilt servo)
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Logic of AlienBot
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This course was awesome, I learned a lot and build my first robot.
A design of a robot is a very complex task. It requires knowledge several disciplines.
Working with one behavior is not the same as working with several behaviors (sample time, synchronization, etc.)
Conclusions
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Questions?