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SECON TEAM A
Electrical & Computer Engineering Department
Institute of Electrical and Electronics Engineers (IEEE) 2009 Southeastern Conference (SECON)
Hardware Competition
The Recycling Robot
[2]
SECON TEAM A
Electrical & Computer Engineering Department
Outline
•Competition Overview•Problem Specifications•Timeline/Goals•Project Planning•Approach and Trade-offs•Project Concerns•Prototype Specifications/Demo
SECON TEAM A
Electrical & Computer Engineering Department
Competition Overview•IEEE Atlanta Section & Georgia Tech
•March 5-8, 2009
•Atlanta, GA
•SECON Hardware Competition•“Real world” problems•Build an autonomous robot that must locate, obtain, sort, and store used beverage products.•Unofficial theme of “expansion”
SECON TEAM A
Electrical & Computer Engineering Department
Outline
•Competition Overview•Problem Specifications•Timeline/Goals•Project Planning•Approach and Trade-offs•Project Concerns•Prototype Specifications/Demo
SECON TEAM A
Electrical & Computer Engineering Department
ProblemHow long?
4 minutesHow big?
Maximum robot dimensions: 12 “ x 12 “ x 18 “ Astroturf field dimensions: 10 ‘ x 10 ‘
How many?1 to 3 labeled plastic bags
5 aluminum cans10 recyclables 3 plastic bottles
2 glass bottlesHow much?
Correctly sorted can or plastic bottle = 15 pointsCorrectly sorted glass bottle = 30 pointsIncorrectly sorted recyclable = 5 points [1]
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SECON TEAM A
Electrical & Computer Engineering Department
The Field
•10 ‘ x 10 ‘ Astroturf•8 ‘ x 8 ‘ electric dog fence•1 ‘ grid for recyclable placement•Unknown “hard” boundary
[1]
SECON TEAM A
Electrical & Computer Engineering Department
The Recyclables
•Coca-Cola products•Placed on side•Any orientation•Potential damage•Total 1.1 lbs•16% available volume
[1]
SECON TEAM A
Electrical & Computer Engineering Department
Our Solution
• 12 ‘ x 18 ‘ x 12 ‘ (L x W x H)• 3 labeled plastic bags• No expansion• Internal storage• Mechanical focus
• Elevator• 2 sweeping arms
SECON TEAM A
Electrical & Computer Engineering Department
Outline
•Competition Overview•Problem Specifications•Timeline/Goals•Project Planning•Approach and Trade-offs•Project Concerns•Prototype Specifications/Demo
SECON TEAM A
Electrical & Computer Engineering Department
Timeline
Boundary Detection
Acquisition
Locomotion
Object Detection
Test/Debug/Assembly
Aug Sept Oct Nov Dec
SECON TEAM A
Electrical & Computer Engineering Department
Outline
•Competition Overview•Problem Specifications•Timeline/Goals•Project Planning•Approach and Trade-offs•Project Concerns•Prototype Specifications/Demo
Electrical & Computer Engineering Department
Project Planning
• Logical separation of tasks
• Logical separation of groups
• Obtaining objects
• Technology used
More specific:
• Wheels/Casters vs. Tracks
• Arms vs. Brushes
SECON TEAM A
SECON TEAM A
Electrical & Computer Engineering Department
Outline
•Competition Overview•Problem Specifications•Timeline/Goals•Project Planning•Approach and Trade-offs•Project Concerns•Prototype Specifications/Demo
Electrical & Computer Engineering Department
Wheels/Casters
Pros
• Wheels are customizable
• Casters are easy
• Commonly available
Cons
• Casters cannot be controlled
• Wheels must be customized
SECON TEAM A
Electrical & Computer Engineering Department
Pros
• Easy
• All-terrain
• Used by previous SECON team
Cons
• Not widely available
• Width
Tracks
SECON TEAM A
Electrical & Computer Engineering Department
The winner?
Quick, easy, and as Dr. Jones says:“It just works”
SECON TEAM A
SECON TEAM A
Electrical & Computer Engineering Department
Brush
versus
Arms
SECON TEAM A
Electrical & Computer Engineering Department
Brush vs. Arms
Looking for something effective and simple
Not simple
SECON TEAM A
Electrical & Computer Engineering Department
Brush vs. Arms•Items are guaranteed to be lying on their side•A sweeping motion could collect these items
This solution was not effective:•Poor job of retrieving items•Requires rotating motion and forward/backward movement
SECON TEAM A
Electrical & Computer Engineering Department
Brush vs. ArmsWhat about sweeping arms?
•Easy implementation•Crossing action of arms helps push items flush against back wall
SECON TEAM A
Electrical & Computer Engineering Department
Brush vs. ArmsDesign issues with sweeping arms:
•Could knock other items out of the way
•Could bump physical boundary
SECON TEAM A
Electrical & Computer Engineering Department
Outline
•Competition Overview•Problem Specifications•Timeline/Goals•Project Planning•Approach and Trade-offs•Project Concerns•Prototype Specifications/Demo
SECON TEAM A
Electrical & Computer Engineering Department
Environmental
Robot can not damage items
• Cans/bottles may only suffer structural dents• Glass may not be shattered
Robot can not damage the field or other robots
SECON TEAM A
Electrical & Computer Engineering Department
Health & Safety
Gas canister Power source Handling of recyclables
SECON TEAM A
Electrical & Computer Engineering Department
Outline
•Competition Overview•Problem Specifications•Timeline/Goals•Project Planning•Approach and Trade-offs•Project Concerns•Prototype Specifications/Demo
SECON TEAM A
Electrical & Computer Engineering Department
Prototype spec.
Measurements within +/- 0.2 lbs
Weight
Robot --- 4.2 lbsEEE Pc --- 3.2 lbs *Total --- 7.4 lbs
Dimensions
L x W x H12in 18in 12in
Vex motor kitMax speed: 1.71 ft/secSupply: 4.4V – 15VPWM:Forward: 1.5ms – 2.0msReverse: 1.0 ms – 1.5msNeutral: 1.5ms
SECON TEAM A
Electrical & Computer Engineering Department
Prototype spec.
Acquisition Arms
•Placement
•Operation
SECON TEAM A
Electrical & Computer Engineering Department
Prototype spec.Locomotion Demo
Speed: 9.82 in/sec (0.818 ft/sec)Voltage supply: 8.96VCurrent draw: 0.78A
Acquisition Demo
SECON TEAM A
Electrical & Computer Engineering Department
References
[1] Institute of Electrical and Electronics Engineers. Southeastcon 2009 Hardware Competition: The Recycling Robot, 2008 August 28, http://hardware.gtieee.org/southeastcon2009/SoutheastCon-2009-Hardware-Rules.pdf. Accessed September 26, 2008.
[2] S. Austin, T. Donaldson, P. Duckworth, G. Grier. Product Specification: The Recycling Robot, http://www.ece.msstate.edu/courses/design/2008/secon/ProductSpecA-Final.pdf. Accessed September 26, 2008
SECON TEAM A
Electrical & Computer Engineering Department
Questions?
SECON TEAM A
Electrical & Computer Engineering Department