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Senior design project: robotic shovel

Senior design project: robotic shovel. Matthew Artus, Joanna Kwak, and Andrew Neaville. Outline. Objective To construct a robotic shovel that allows alumni, faculty, and students to contribute to the groundbreaking for the new ECE building. Project Changes Project Block Diagram

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Senior design project: robotic shovel

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  1. Senior design project:robotic shovel Matthew Artus, Joanna Kwak, and Andrew Neaville

  2. Outline • Objective • To construct a robotic shovel that allows alumni, faculty, and students to contribute to the groundbreaking for the new ECE building. • Project Changes • Project Block Diagram • Block Descriptions • Video • Special Thanks

  3. Project Changes

  4. Project Block Diagram

  5. Arduino MEGA

  6. Arduino MEGA

  7. Arduino MEGA http://rhinoart.info/archives/101 • 16 MHz processor • 128 KB flash memory • 10 bit ADCs • 54 I/O pins • 13 PWM outputs • 4 serial ports • I2C

  8. Batteries

  9. Batteries

  10. Batteries http://www.batterycentralmall.com/Batteries/Rhino/Rhino.html • http://www.100candles.com/items/item_8678.html

  11. Switches

  12. Switches

  13. Tilt Ball Switch • Purpose: Protect equipment • Used in situation when robot tips • Normal  Contact Closed  Digital Input = LOW • Tip  Contact Breaks  Digital Input = High

  14. Toggle Switches • Pause RC Control Begin 1 2 3

  15. Sensors

  16. Sensors

  17. IR Sensors

  18. IR Sensors

  19. Compass Sensor • http://www.pololu.com/catalog/product/1250

  20. Compass Sensor

  21. Compass Sensor

  22. LED Display

  23. Display

  24. Display: Original Design • Adapted project created by NerdKits* • Revolved around ATMEGA168 microcontroller and row-column addressing 12 V Battery Voltage Regulator (7805) 5 V Row Wires ATMEGA 168 LED Display Column Wires Arduino Mega General Display Block Diagram *http://www.nerdkits.com/videos/ledarray2/

  25. Display: Row-Column Addressing • 17 output pins: 5 row and 12 column wires • 1 forwards and 1 backwards LED connected to each row-column combination  120 LEDs http://www.nerdkits.com/videos/ledarray2/

  26. Display: Construction • LEDs placed in 125 holes poked in foam board • Row and column wires soldered on front and back, respectively • Case constructed with thick foam board

  27. Display: Microcontroller Connections http://www.atmel.com/dyn/resources/prod_documents/doc2545.pdf

  28. Display: Ratings Tests • LED maximum ratings were not exceeded • Maximum operating voltage of ATMEGA168 is 6 V  5 V output voltage from voltage regulator and 12 V battery was confirmed LED Voltage Ratings: Row Wire High output = 2.1 V Column Wire Low Output = ~ 0 V

  29. Display: Control • Manipulated data array with on-off status of LEDs • Interrupt function updated actual display every 1.1 ms • Turns appropriate column wires high for even column LEDs and row wire low • Turns appropriate column wires low for odd column LEDs and row wire high • Repeats for every row http://www.atmel.com/dyn/resources/prod_documents/doc2545.pdf

  30. Display: Functionality Tests • 1st: Test all LEDs • 2nd: Receive characters serially from computer • 3rd: Receive values from Arduino Duemilanove • 4th: Receive values from Duemilanove and scroll names stored in array • 5th: Transmit and receive to and from Mega New Name Name Scrolling  Start Dig http://www.sparkfun.com/products/7957 http://rhinoart.info/archives/101

  31. Display: Performance • High temperatures after brief runs (~10 min) • Issue solved by adding heat sinks • Unstable connections with robot moving over rough terrain • Capable of running for long periods (~1 hr) required to video record final digs • No LEDs lost in final runs

  32. RC Control

  33. RC Control

  34. RC Control • RC Receiver output • Sent every 20 ms • Measure with controller with 5 μs accuracy http://www.caswellplating.com/models/images/wft08.jpg http://www.alibaba.com/manufacturers/wfly-rc-transmitter-manufacturer.html http://www.schoeppl.info/images/Elektronik/PC-RC-Steuerung/ppm-signal.jpg • Pulse generated • Sent every 20 ms • Output to 5μs accuracy http://www.roboteq.com/files_n_images/files/manuals/ax500man19b-060107.pdf

  35. Motor Controllers

  36. Motor Controllers

  37. Motor Controllers • Roboteq AX-500 • 2 channel • 15 Amps/channel http://www.robotshop.com/Images/Small/en/roboteq-AX500 • Roboteq AX-2850 • 2 channel • 120 Amps/channel http://www.robotshop.com/Images/Small/en/roboteq-AX2850

  38. Hardware

  39. Hardware

  40. Hardware • 110 lb actuator • Built in potentiometer • Read position within 0.5% (0.02”) • 4” stroke • 3 A normal • 10 A peak • 12 V • 35 ft-lb DC motors • 12-24 Volt • Up to 4000 RPM

  41. Video

  42. Conclusion • Block Diagram Summary • Arduino MEGA • Batteries • Switches • Sensors • LED Display • RC Control • Motor Controllers • Hardware

  43. Special Thanks To… • Joseph Shim & IEEE • Scott McDonald • David Switzer • Greggory Bennett • Electronics Shop • Jonathan Makela • Justine Fortier • Phillip Krein

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