Summary of project had been done during undergraduate course (2005~2009)

2009

Project 1

Competition: Robocon 2009

Host: Japan

Theme: Travel Together for the Victory Drums

Project Title: Traveller Robot

Team size: 4

Role: Team Leader of Traveller Robot, Robot Designer,

Programmer

Period: Nov 2008 ~ May 2009

Description:

Travel Together for the Victory Drums is a game based on an imaginary journey of olden days using the Kago

palanquin.

An Automatic Carrier Robot in the front and a Manual Carrier Robot in the rear shall cooperate to carry an

automatic Traveller Robot in a Kago to the goal with the aim of completing the journey before the other team.

Various tasks stand in the way, including a Mountain Pass and Woods. The Kago and Traveller Robot must not

be dropped.

The Traveller Robot must beat the three Victory Drums when it reaches the Goal Zone. The three traditional

Japanese drums are arranged vertically on a platform. The team that beats all three drums first is the winner.

Achievement:

- Able to reach the Goal Zone and beat the three Victory Drums after unloaded from Kago.

- Represent Universty and fight in Natonal Stage.

Project 2

Course: Final Year Project

Project Title: Localization Automatic Robot

Team size: 1

Period: July 2008 ~ April 2009

Description:

This project is to design and develop automatic robot localization for the purpose of Robocon 2009. Actual robot

position and projection direction is needed to accomplish motion to destination. This project is categorized to

three main parts which are included electric circuit, mechanical design and algorithm. The main objective of this

project is to order the automatic robot to move from origin spot to destination set. After the robot arrive at the

destination then it returns to origin accurately.

Traveller Robot

The concept of this project is to use mouse encoder to count the number of revolutions of the encoder wheel.

The program can determine whether a command to move forward some specified distance has actually resulted

in the proper number of physical encoder wheel turns required for the distance and the number of revolutions

of the encoder wheel will be displayed on the LCD screen. For the drive, the robot will use Omniwheel to

perform more accurate and faster localization using x-axis and y axis.

Task:

1. Use mouse encoder to count the number of revolutions of the encoder wheel.

2. Design an algorithm to determine whether a command to move forward some specified distance has actually

resulted in the proper number of physical encoder wheel turns required for the distance.

3. Display the number of revolutions of the encoder wheel on the LCD screen.

4. Use Omniwheel to perform more accurate and faster localization using x-axis and y axis.

Achievement:

1. Able to count the number of revolutions of the encoder wheel by using Analogue-Digital converter

2. Successfully display the number of revolution of the encoder wheel on the LCD screen.

3. Successfully designed an algorithm which can peform the direction in positive/negative values

4. Successful design the circuit to implement all function needed.

5. Successful designed a robot by using Omniwheel to localize along X-axis and Y-axis

+

+

_

_

Y-axis

X-axis

PCB layout in ARES

after change from

Proteus ISIS

PCB Etching Board Complete with soldered all

components

2008

Project 3

Course: Digital Control Systems

Project Title: DC Motor Speed Controller By Using PI Controller

Team size: 4

Role: Team leader, Circuit Designer and Programmer

Period: Aug 2008 ~ Nov 2008

Description:

Digital Control System concept in a specified process or plant consists of a control system that involves the

changing of a digital system parameter and addition of subsystem called compensator to achieve certain

desired system characteristic. The desired characteristics, or performance specifications, generally related to

steady-state accuracy, transient response, relative stability, sensitivity to change in system parameter, and

disturbance rejection. This form of performance specification can be controlled using common control system

such as P, PI or PID controller. Digital control system widely used for its reliability and accuracy characteristics

compared to conventional analog signal processing that has certain application limitations.

Commonly P, PI or PID controller system can be programmed to a microcontroller such as a PIC16F877A to

process the I/O signals of a system. Most of signals produced or generated from a system are basically in analog

form. Therefore, a digital to analog converter required to transfer the form of signal to be processed by computer

system. A common DAC can be applied for simple project such as the 8 bits AD 7302. Generally, any projects that

consist of DC motor application needed a specified circuitry to drive or control the motor. The form of control can

be derived as the speed and rotation direction of the motor. A regular type of control circuitry for DC motor is an

H-Bridge circuit and at current stage, it can found in integrated circuit (IC) form known as L298.

Task:

1. Build hardware for the project consists of motor and generator coupling

2. Design MikroC algorithm for the system operation

3. Design a digital controller for dc motor speed control

4. To do simulation by using Proteus and MATLAB Simulink

Achievement:

1. Successfully build the hardware for the project consists of motor and generator coupling

2. Complete the algorithm for the system operation

3. Able simulate on Proteus and MATLAB

Motor Generator

Project 4

Course: Expert Systems & Machine Intelligence

Project Title: Fuzzy Rice Cooker

Team size: 5

Role: Team Leader, Programmer

Period: Aug 2008 ~ Oct 2008

Description:

A rice cooker with fuzzy logic control system (FLCS) is presented to meet the special requirements and some

limitations of the rice cooker. A new inference scheme is given to estimate the amount of rice and water to be used,

and the temperature will be controlled according to the amount of rice and the time while cooking. The fuzzy logic

control system will be designed by using two types of simulation software which are MATLAB and FuzzyTECH.

Task:

1. Design a fuzzy logic controller for a rice cooker

2. To do simulations by using MATLAB Fuzzy Logic Toolbox and FuzzyTECH

Achievement:

1. Successfully designed a fuzzy logic controller for a rice cooker

2. Simulations by using MATLAB Fuzzy Logic Toolbox and FuzzyTECH

current

Zero-Order

Hold

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1

Unit Delay

12

Theta

Reference

TL

Scope

mi Va

PWM H-bridge model

E y

PI

Va

TL

ia

w

DC motor model

Matlab

Proteus

Matlab Fuzzy Logic Toolbox

FuzzyTECH

Project 5

Course: Mechatronics Systems Design

Project Title: Mini Forklift Control Robot

Team size: 4

Role: Team Leader, Robot Designer

Period: July 2008 ~ Oct 2008

Description:

Forklift first has been found approximately in 1917 and then was in market sale in 1918. With the platform attachments,

first forklift on sale was look alike a tractor. In early 1920s a dedicated forklift was evolved with only for vertical lifting.

Move on early 20s, Yale and Baker came out with a battery powered forklift machine. After World War II, the evolution

is changed dramatically since the US Armed Forces urge to have more mobile transportation so that the cargo can be

transported rapidly from US factories to foreign ports. As the consequences, a tremendously growth of forklift was

evolved. In 1950’s a so-called Narrow Aisle Reach Truck by Raymond Corporation burst to the market place. Through

the year until 1980’s the other manufacturer which was Toyota and Nissan started to manufacture the forklift. It was

also happened in Daewoo of Korea.

Forklift continued to evolve until 1990’s and of course yet for this century. In 1990’s, lift truck was developed with the

use of containers to move the cargo. This century yield an ergonomic design of forklift. Some of the forklift now can

be equipped with wide range of electronic equipments to interface with cargo management system.

Even though forklift has passed through many evolutions toward its perfection, some of the major problem occur in

most forklift is its degree of movement. For conventional forklift both manual (human power) and motor drive, the

forklift is only able to work in large area of work space because of the movement is not multidirectional. Let say that

user want to move a forklift to the right from static position, he need to reverse first then will able to turn right. It

also non practical for time elevated in doing any task. From this problem statement studied, a multidirectional Mini

Forklift Control Robot is designed to fulfill the effective movement demand.

Task:

Project 6

Course: Internship (Industrial Training)

Project Title: Process Control Tank

Team size: 2

Role: Team Leader, Designer and Programmer

Period: March 2008 ~ April 2008

Description:

The project involved setting up a process control tank system to control water flow through inverter and water

temperature control using PC-Based or manual. Initial setting and measured temperature values to be digitally logged

and saved.

This project is using PT-100 to sense temperature and then send the signal to temperature controller, then temperature

controller will ON or OFF the SSR (Solid State Relay). Mean if temperature lower than setpoint, SSR will be ON and

vise-versa. If the water in heating is insufficient, user can manually control the water pump by adjusting the frequency

on panel of inverter. Inside control panel, the electrical components included inverter, temperature controller, SSR

(Solid State Relay), circuit breaker and rectifier.

Task:

1. Design the Process Control Tank by using software Solidworks.

2. Design the electrical component needed inside a control panel.

Achievement:

1. The Process Control Tank is successful been designed by using software Solidworks.

2. The electrical component is designed and arranged tidy inside a control panel

3. The Process Control Tank can be used by manually or controlled by PC.

Project 7

Course: Internship (Industrial Training)

Project Title: Chemical Temperature Control System

Team size: 1

Role: Circuit Designer, Programmer

Period: Jan 2008 ~ April 2008

Description:

The project involved setting up a temperature control system using PC-Based and manually on the device. Initial

setting (reference point), measured temperature and PH values to be digitally logged and saved.

PC-Based Temperature Controller means to control the temperature by using PC. To control the temperature, the

components included temperature controller, SSR (Solid State Relay), thermocouple and heater. To control the

temperature from PC, we need connect the temperature controller to RS485-RS232 converter then RS232 will transfer

the signal to PC.

Task:

1. Design the system

2. Design the electrical circuit connection

3. Do the Visual Basic programming

4. Testing the system

Achievement:

1. The system is succesfully been designed.

2. The electrical circuit connection is designed.

3. The algorithm is successfully created and the control panel in PC had been designed.

4. The system was tested and the function work as requested.

Project 8

Course: Internship (Industrial Training)

Project Title: Visual Line-guided Mobile Robot

Team size: 1

Role: Programmer

Period: Dec 2007 ~ Jan 2008

Description:

The project involved programming on the mobile robot to navigate along selectable pre-set reference white lines

(switches for 2 selectable route options), avoiding obstacles, and turning off the system when battery is low.

In this project, I programmed the mobile robot by using PIC16F877A so that the mobile robot can be moving by follow

black line while the background is white color. Besides that, Home Station has 2 buttons to control the mobile robot.

If button 1 is pressed, the mobile robot will move and stop at Station 1 (Password: 0101) about 10 seconds, within

these 10 seconds the buzzer is on. After 10 seconds the mobile robot will move again and stop at Home Station

(Password: 0000) and buzzer on about 10 seconds. When the buzzer off that means the mobile robot is waiting for

next instruction. This is same as button 2 be pressed and stop at Station 2 (Password: 1010) with same condition.