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Team Spot A Cooperative Robotics Problem

Team Spot A Cooperative Robotics Problem

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Team Spot A Cooperative Robotics Problem

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  1. Team SpotA Cooperative Robotics Problem A Robotics Academy Project:Laurel Hesch Emily Mower Addie Sutphen

  2. Project Goal Develop a team of autonomous robots that will, within a fixed boundary: • Communicate with each other • Locate a spot of light on the Robotable • Follow the spot of light as it moves across table

  3. Last Semester Lego Prototype • 1 mobile Lego RCX robot • 2 stationary Lego RCX robot Mobile Robot Stationary Robot

  4. Last SemesterFirst Prototype • Team of 1 mobile and 2 stationary robots. • PVC Body • PIC chip microprocessor • IR communication

  5. This Semester • Development Process • Prototype • Evaluated first semester prototype • Prototyped new robots • Programming and EE Design • Added complexity to the problem • Developed new and more accurate algorithms • Developed more accurate communication system • Production • Modified prototype • Final build

  6. Meet the RobotsLucy, Ray and Zoolander Lucy Zoolander Ray

  7. Old Elements PIC chip microprocessor Reliable and easy to use. Robot Motors and wheels New Elements Body New, robot friendly, body design Sleek Lexan Material Communication Long range bluetooth More reliable communication Programming New computation algorithm Completed Robot Team

  8. Product Research • Mobile robots, autonomous robots, robot teams • Robot Body Design • Communication between robots • Microprocessors

  9. ElectricalOOPic Chip • Programming Language: Object Oriented Basic • 31 I/O pins and additional voltage sources for device interface. • Voltage source used for Bluetooth communication, the servo motors, and the photo-resistor circuits.

  10. ElectricalMotor Control • Microprocessors control all servo motors • Due to highly variable torque- constant motion across motors has not been established • Robot Motion • Controlled pulses sent to servo motors • Mobile Robot: Calculated using a set of trig functions (will be discussed later) • Stationary Robot: Determined through trial and error

  11. ElecticalLight Sensing • Simple photo-resistor placed in series with a resistor • Output voltage measured at the junction of the two resistors • Voltage level inputted to microprocessor using the analog to digital converter • Accuracy hampered by ambient light spots brighter than the spot being sought.

  12. AlgorithmsFlowchart of Functionality The position of the greatest spot is transmitted via Bluetooth to the mobile robot. Stationary robots scan for position of brightest light. Mobile robot reads in light value Interprets value using trig functions Mobile Robot moves to correct position

  13. AlgorithmsStationary Robot Algorithm: 1 • Goal: • Determine location of spot of greatest light intensity • Convert location into angle measure • Transmit angle measure to mobile robot via Bluetooth (to be discussed later)

  14. AlgorithmsStationary Robot Algorithm: 2 • Method: • Sweep through 90 degrees • Number of stops depends on strength of battery • Store location of greatest light and covert to the range accepted by the OOPic sine function

  15. AlgorithmsMobile Robot Algorithm: 1 • Goal: • Given angle measurements from stationary robots compute location of spot of light • Advance to spot of light • Find new spot of greatest light intensity • Follow new spot

  16. AlgorithmsMobile Robot Algorithm: 2 • Method: • Using sine functions on OOPic chip calculate location of spot of light • Advance to spot of light using pulses of motor • Once at spot of light, rotate 360 degrees to find the new spot of greatest light intensity • Follow the new spot by keeping the light between the three light sensors on front

  17. AlgorithmsMobile Robot Algorithm: 3

  18. CommunicationsThe need for wireless • Goal: • Send angle measurements serially between stationary and mobile robots. • First Semester: Infrared communications • Second Semester: Bluetooth communications

  19. CommunicationsInfrared • Serial infrared communication was attempted in the first semester. • Problems: • The range was too small. • Significant accuracy problems. • True serial communications was not established, meaning that pulses representing angle measurements had to be sent. • This adaptation added an additional level of inaccuracy.

  20. CommunicationsBluetooth • Bluetooth is a open platform communications protocol for short distance, high throughput, low power communications.  • Advantages: • Range up to 30 feet. • A master device can potentially connect with up to 8 slave devices at a time. • Each device has a unique 48 bit address, which results in highly accurate identification. • Bluetooth is also very low power (1mW)

  21. CommunicationsBluetooth Operation

  22. MechanicalMotors and Gearing • Hitech HS-422 Motors • Purchased from Lynx Motion • Modified for continuous rotation • Gearing • Removed internal gear • Geared down stationary robot motors

  23. MechanicalBody Design • Last semesters design large and bulky • Square shape interfered with light sensing • Developed round design • In scale with Robotable • Concurrent with light sensors • Better mobility

  24. MechanicalSecond Prototype – Mobile Robot

  25. Mechanical Stationary Robot Drawings

  26. MechanicalMobile Robot Drawings

  27. MechanicalSecond Prototype

  28. MechanicalSecond Prototype

  29. Mechanical Final Design Ray Zoolander Lucy

  30. Opportunity for Future Research • Continuing Bluetooth robotic applications • Implementation of full Bluetooth functionality • Algorithms to find multiple spots • Integration of chemical “nose” • Expansion of robot team • Integration of multiple robot teams

  31. Special Thanks • James the Bluetooth Man • Warren Gagosian • Chris Rogers • Matt Dombach • Jim Hoffman • Robotics Academy Professors • TUFTL lab

  32. DemoCross your fingers