P14215: Autonomous Wandering Ambassador
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Build, Test, Document

Table of Contents

Website should document your journey through MSD, so include work-in-progress as well as latest results. Use pdf's for display whenever possible so that information is easily viewable without the need to download files and open applications. (Your EDGE file repository should still contain original files).

Sample categories are listed below, but feel free to change or add nodes to better correspond to your project and your Guide’s expectations.

Build, Test, and Integrate

The objective of creating this list was to start a list of accomplishments that the team wants to create as a whole. The use of RFID in this project was to identify classrooms and function as a navigation system for the third floor the engineering building. Another major part of this project was to make sure the robot is controlled via remote control. This was a wireless PlayStation 2 controller that sent signals to an Arduino microcontroller that was wired on board the robot. Another customer requirement was to investigate all the parts already existing on the robot from the previous team. The team discovered that the encoders and a few other parts were not functioning so this also was a setback, but all the non-functioning parts were replaced.

Test Plans & Test Results

The Functional Decomposition and the System Block Diagram of Figures 1 and 2 represent the overall flow of the project. The Functional Decomposition relates objectives with goals for completing that objective. The System Block Diagram connects hardware and software and shows how the system interfaces with the user. The robot is equipped with six sonar sensors and eight IR sensors. The sonar sensors and IR sensors were calibrated according to the data shown below. Note that raw values given when testing the IR sensors were those obtained from an Arduino microcontroller at the given distance. Both tests were performed by suspending a solid, flat object in front of the sensor at the given distance.

Assembly Instructions

During the planning stages of the project the team analyzed possible constraints within the project while also collaborating with the faculty guide. No constraints on the project were found, except for the budget of $500. This amount was negotiable if the team required more money to complete the project. Also the team voted on how to split up the work that was required for this project. We named Apurva Shah the Project Lead, responsible for the overall project and to support on any needed technical aspects of the project. Nick Nguyen the Hardware Specialist, in charge of any hardware or circuit related materials for this project and also support for software. Michael Gambino, Software Specialist, in charge of any software related decisions and support for hardware engineering. Peichuan Yin, Electrical Specialist, in charge of wiring diagrams, schematics, and also support for the team. These roles changed during the course of development. By the end, Nick focused primarily on the software detecting objects and controlling the robot. As a team there was a need for collaboration on all parts of the project and as aspiring engineers this acted as a stepping stone and learning element for different areas of work that could be applied in real world scenerios

User or Operator Instructions/Manual

Most customer requirements were met One item that was not met involved distance of detection by the RFIDs. This problem will likely be encountered by a future team. The robot was successfully able to avoid running into obstacles using the sonar and IR sensors. It was originally planned to have a custom PCB that would allow all eight IR sensor readings to pass into the I2C bus line, however it was too costly and time consuming. In alternative, was to cascade the IR sensors using OR gates. The disadvantage of this method is that the tripped IR sensor is unknown, and proper resistance (require for setting threshold) need to be computed for each IR sensor. Figure 5 shows the connections made using the OR gates and this was done in a cascaded format. The robot was equipped with ten IR sensors, but two were connected to an ADS1015 to access I2C bus line on the microcontroller to handle stair detection. The cascaded IR sensors handled close-range object detection. These were aimed at the floor to prevent the robot from hitting objects close to the floor and out of range of the Sonar sensors. If one tripped, the robot would cease movement until the object was removed.

Service Instructions/Manual


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