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EMRAM

EMRAM. INNOVATIONS. Mini-Sumo Project. Nick Enriquez Project Manager, MCU Programmer, PCB Design Isai Michel Webmaster, Body & Mechanics, Programming support Christian Marquez Parts Requisition, Sensors, Programming Support Christopher Reyes

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EMRAM

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  1. EMRAM INNOVATIONS Mini-Sumo Project

  2. Nick Enriquez Project Manager, MCU Programmer, PCB Design Isai Michel Webmaster, Body & Mechanics, Programming support Christian Marquez Parts Requisition, Sensors, Programming Support Christopher Reyes Presentation Editor, Motors, Power Supply Support Catherine Acain Reports Editor, Power Supply, PCB support EMARAM INNOVATIONSTeam Members:

  3. “The Juggernaut”

  4. PROJECT OVERVIEW • Mini-Sumo Competition • Design Specifications • 500g maximum weight • 10cm x 10cm maximum width and length • No destructive techniques • Our Design Approach • Robust Frame • High Torque • Bi-Directional • Simple but effective software implementation

  5. Body & Mechanics

  6. Chassis

  7. Track system • Sprocket • Idler • Tracks

  8. Rotation

  9. Motors

  10. FUTABA S3305 MOTORS

  11. SERVO MODIFICATION

  12. Pulse Width & RPM Testing

  13. Sensors

  14. Photo Sensors • QRD1113 Reflective Object Sensors (Fairchild Semiconductors) • 4.36 V swing (4.59 V to 228 mV) from black to white surfaces • 1 V – Threshold • About 5mm above the ground

  15. Distance Sensors • Sharp IR Proximity Sensors • (GP2Y0A21YK) • 400 mV – Threshold • Detects at 70 cm

  16. Power Supply

  17. Lithium Ion Polymer Battery • 3.7 V each • 7.4 V Total Provided • Light-Weight: 19.84g • Easy to Charge and Recharge

  18. Voltage Regulation Schematic

  19. System Requirements • Voltage Requirements 5V and 6V • Current Draw: 650mAH – 850mAH • Power: 4.81WH-6.29WH • Battery Rating: 800mAH • Expected Battery Life: (5.624WH / 6.29WH)*(60 min) = 53 min Actual Power Supply Output: • Voltage Outputs 5.0 and 6.4V • Current Draw: 760mAH • Actual Power Supplied: 5.624WH • Average Battery Life: 45 minutes

  20. Microcontroller

  21. REAR PROXIMITY SENSOR FRONT PROXIMITY SENSOR FRONT IR SENSOR REAR IR SENSOR MUX POWER SUPPLY ADC 7.4 Battery 5V REG MICROCONTROLLER 6V REG PWG LEFT MOTOR RIGHT MOTOR SYSTEM INTEGRATION

  22. Freescale MC9S12C32 • Hardware: • Module Utilization • Programming via BDM Port • Removal of components • Software: • Delay function • 5-Second Start Delay • Line Sense Function • Sensor Response • Motors • Utilizing PWM vs. Bit banging • Controlled by adjusting Duty Cycle • Strategy

  23. MODE: Pull-Away Program Start YES Are we at the boundary? 5-second delay MODE: Turn and Seek NO Is enemy in range? NO YES MODE: Attack Algorithm Flowchart

  24. Project Scheduling & Budget

  25. GANTT CHART

  26. COST SUMMARY

  27. LIVE DEMONSTRATION

  28. Please visit us at: http://emram.sdsu.edu WEBSITE Demo Day • Friday, May 4th 2007 • In front of the Engineering Building • BBQ @ 12:00pm • Project Judging @ 1:30pm • Live Demonstration @ 2:00pm

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