Design Project Introduction DE2-based SecurityBot

Size: px
Start display at page:

Download "Design Project Introduction DE2-based SecurityBot"

Transcription

1 Design Project Introduction DE2-based SecurityBot ECE2031 Fall

2 Design Project Motivation ECE 2031 includes the sophomore-level team design experience You are developing a useful set of tools eventually including an entire computer within the DE2 board Using tools creatively to solve problems is what engineers and computer scientists do 2

3 ECE 2031 Project Components Propose a solution to a problem: Given a robot and an area to patrol, what s a good approach to detecting intruders? More details in this presentation and later in the semester Implement the proposed design on the DE2Bot Demonstrate, present, and document your solution 3

4 Technical Communication Aspects Your project includes two major UPCP assignments: A proposal presentation outlining what you intend to develop A final design summary You will also maintain a design logbook using forms provided by the UPCP Specific requirements will be detailed on Piazza 4

5 Background on DE2Bot Many semesters ago, older lab robots were gutted, adding a new internal controller board and a connected DE2 on top Then, each semester a new capability has been added, or a new application has been demonstrated 5

6 ECE2031 DE2Bot Past Projects Position/velocity feedback from wheel encoders Open-loop velocity control with PWM Processing of sonar transducers, and wall-following demonstration I 2 C interface for battery monitoring and audio codec control Odometry (position estimation from wheel rotation) Audio codec interface and digital sound generation Robot Self-test Corral localization and navigation demonstrations Infrared signal detection and remote control demonstration UART for wireless communication and warehouse robot demo Implementation of hardware interrupts for SCOMP Complex mathematical functions in software (ATAN) Explorations of point-to-point movement methods Analyzing sonar data to locate objects and make contact 6

7 Current Project Motivation Mobile robots are ideal for mundane, round-the-clock tasks, such as perimeter security Previous projects have developed Go To capabilities Robot can execute controlled movements Estimate of robot position is available as a sensor Some projects have used sonar to detect obstacles You will be choosing strategies to patrol an area using sonar Robot movement is required to scan the entire area 7

8 Your Design Task for Fall 2017 Start at an assigned location Patrol, searching for another robot moving through the area 8

9 SecurityBot fundamentals The boundary is partly physical, partly virtual Leaving the area risks interference with observers, furniture The dividing boundary ( T ) can move left or right several feet between runs Faster detection results in higher score 9

10 DE2Bot Movement The DE2Bot has two drive wheels, with a passive caster to support the rear end. This is called a differential drive or differential wheeled robot. Caster Drive wheels 10

11 Controlling the DE2Bot Each drive wheel is controlled independently. E.g. set left wheel velocity to +200 and right wheel velocity to -80 This allows for in-place spins, and movement in straight lines and arcs. 11

12 DE2Bot Motor Speed Control The DE2Bot user sets a desired speed for each motor, but as a physical system: It will take some time for the motors to reach their steady-state speed. The steady-state speed will not be exactly the desired value. Software must monitor the robot s state and control it at real-world time scales. 12

13 DE2Bot Odometry The DE2Bot can measure each wheel s rotation. By integrating the wheel movement, the robot can keep track of its real-world position. This is called dead reckoning odometry, and was the subject of the project in Summer X += +500 mm Y X θ += 20 X += cos(20 )*500 mm = +470 mm Y += sin(20 )*500 mm = +171 mm (not to scale updates are actually made at the level of fractions of a mm) 13

14 Odometry Accuracy The accuracy of dead reckoning odometry degrades with distance. The odometry calculations rely on physical dimensions of the robot wheel diameter and axle track which are subject to variation. External effects, such as a wheel slipping, introduce non-systematic errors. All errors tend to compound over time due to the integration. 14

15 Example of Odometry Error Consider the case where the drive wheels are not exactly the same size. If the motors turn at exactly the same speed: According to the odometry calculations, the robot is moving in a perfectly straight line. However, physically, the robot will be moving in an arc. 15

16 Sonar Transducers in the DE2Bot The DE2Bot has eight ultrasonic distance sensors. Each sensor can measure the distance to the nearest object in front of it. One of 8 transducers 16

17 Basics of Ultrasonic Rangefinding 1. A transducer produces a short burst of sound. 2. That ping travels through the air. 3. The ping bounces off of something and returns. 4. The time-of-flight is measured and converted to distance (using the speed of sound). 17

18 Basics of Ultrasonic Rangefinding 1. A transducer produces a short burst of sound. 2. That ping travels through the air. 3. The ping bounces off of something and returns. 4. The time-of-flight is measured and converted to distance (using the speed of sound). 18

19 Basics of Ultrasonic Rangefinding 1. A transducer produces a short burst of sound. 2. That ping travels through the air. 3. The ping bounces off of something and returns. 4. The time-of-flight is measured and converted to distance (using the speed of sound). 19

20 Basics of Ultrasonic Rangefinding 1. A transducer produces a short burst of sound. 2. That ping travels through the air. 3. The ping bounces off of something and returns. 4. The time-of-flight is measured and converted to distance (using the speed of sound). 20

21 Limitations of Sonar Ultrasonic rangefinders have desirable traits: Cheap, simple, robust, accurate (in good conditions ) But they also have limitations: Low measurement rate and low angular resolution Measurements can be inaccurate, or fail, in some situations Example: difficult to sense angled object: 21

22 Visualizing Sonar Data This figure was generated by rotating the robot and recording a measurement every degree. 22

23 Sonar Data: Box in Hallway Side of box, walls at 90º, and inside corners produce strong reflections. 23

24 Discussion Form groups of 5-6 students What do you see as major strategic or technical choices for this task?

25 What s next Finish Labs 7 & 8 (Simple Computer) Think about the general idea of the project Expect more details by October 28

Pre-Activity Quiz. 2 feet forward in a straight line? 1. What is a design challenge? 2. How do you program a robot to move

Pre-Activity Quiz. 2 feet forward in a straight line? 1. What is a design challenge? 2. How do you program a robot to move Maze Challenge Pre-Activity Quiz 1. What is a design challenge? 2. How do you program a robot to move 2 feet forward in a straight line? 2 Pre-Activity Quiz Answers 1. What is a design challenge? A design

More information

ME375 Lab Project. Bradley Boane & Jeremy Bourque April 25, 2018

ME375 Lab Project. Bradley Boane & Jeremy Bourque April 25, 2018 ME375 Lab Project Bradley Boane & Jeremy Bourque April 25, 2018 Introduction: The goal of this project was to build and program a two-wheel robot that travels forward in a straight line for a distance

More information

MEM380 Applied Autonomous Robots I Winter Feedback Control USARSim

MEM380 Applied Autonomous Robots I Winter Feedback Control USARSim MEM380 Applied Autonomous Robots I Winter 2011 Feedback Control USARSim Transforming Accelerations into Position Estimates In a perfect world It s not a perfect world. We have noise and bias in our acceleration

More information

Brainstorm. In addition to cameras / Kinect, what other kinds of sensors would be useful?

Brainstorm. In addition to cameras / Kinect, what other kinds of sensors would be useful? Brainstorm In addition to cameras / Kinect, what other kinds of sensors would be useful? How do you evaluate different sensors? Classification of Sensors Proprioceptive sensors measure values internally

More information

Intelligent Robotics Sensors and Actuators

Intelligent Robotics Sensors and Actuators Intelligent Robotics Sensors and Actuators Luís Paulo Reis (University of Porto) Nuno Lau (University of Aveiro) The Perception Problem Do we need perception? Complexity Uncertainty Dynamic World Detection/Correction

More information

GE423 Laboratory Assignment 6 Robot Sensors and Wall-Following

GE423 Laboratory Assignment 6 Robot Sensors and Wall-Following GE423 Laboratory Assignment 6 Robot Sensors and Wall-Following Goals for this Lab Assignment: 1. Learn about the sensors available on the robot for environment sensing. 2. Learn about classical wall-following

More information

NAVIGATION OF MOBILE ROBOTS

NAVIGATION OF MOBILE ROBOTS MOBILE ROBOTICS course NAVIGATION OF MOBILE ROBOTS Maria Isabel Ribeiro Pedro Lima mir@isr.ist.utl.pt pal@isr.ist.utl.pt Instituto Superior Técnico (IST) Instituto de Sistemas e Robótica (ISR) Av.Rovisco

More information

10/21/2009. d R. d L. r L d B L08. POSE ESTIMATION, MOTORS. EECS 498-6: Autonomous Robotics Laboratory. Midterm 1. Mean: 53.9/67 Stddev: 7.

10/21/2009. d R. d L. r L d B L08. POSE ESTIMATION, MOTORS. EECS 498-6: Autonomous Robotics Laboratory. Midterm 1. Mean: 53.9/67 Stddev: 7. 1 d R d L L08. POSE ESTIMATION, MOTORS EECS 498-6: Autonomous Robotics Laboratory r L d B Midterm 1 2 Mean: 53.9/67 Stddev: 7.73 1 Today 3 Position Estimation Odometry IMUs GPS Motor Modelling Kinematics:

More information

Where C= circumference, π = 3.14, and D = diameter EV3 Distance. Developed by Joanna M. Skluzacek Wisconsin 4-H 2016 Page 1

Where C= circumference, π = 3.14, and D = diameter EV3 Distance. Developed by Joanna M. Skluzacek Wisconsin 4-H 2016 Page 1 Instructor Guide Title: Distance the robot will travel based on wheel size Introduction Calculating the distance the robot will travel for each of the duration variables (rotations, degrees, seconds) can

More information

Mobile Target Tracking Using Radio Sensor Network

Mobile Target Tracking Using Radio Sensor Network Mobile Target Tracking Using Radio Sensor Network Nic Auth Grant Hovey Advisor: Dr. Suruz Miah Department of Electrical and Computer Engineering Bradley University 1501 W. Bradley Avenue Peoria, IL, 61625,

More information

Note to the Teacher. Description of the investigation. Time Required. Additional Materials VEX KITS AND PARTS NEEDED

Note to the Teacher. Description of the investigation. Time Required. Additional Materials VEX KITS AND PARTS NEEDED In this investigation students will identify a relationship between the size of the wheel and the distance traveled when the number of rotations of the motor axles remains constant. Students are required

More information

Development of intelligent systems

Development of intelligent systems Development of intelligent systems (RInS) Robot sensors Danijel Skočaj University of Ljubljana Faculty of Computer and Information Science Academic year: 2017/18 Development of intelligent systems Robotic

More information

EEE 187: Robotics. Summary 11: Sensors used in Robotics

EEE 187: Robotics. Summary 11: Sensors used in Robotics 1 EEE 187: Robotics Summary 11: Sensors used in Robotics Fig. 1. Sensors are needed to obtain internal quantities such as joint angle and external information such as location in maze Sensors are used

More information

Brett Browning and. Spring 2011

Brett Browning and. Spring 2011 Brett Browning and M. Bernardine Dias Spring 2011 Lab #1 feedback Final project overview Final project teams Lab #2 overview Slide 2 Cluttered racing task Probably want to be able to accelerate fast, brake

More information

Sensing. Autonomous systems. Properties. Classification. Key requirement of autonomous systems. An AS should be connected to the outside world.

Sensing. Autonomous systems. Properties. Classification. Key requirement of autonomous systems. An AS should be connected to the outside world. Sensing Key requirement of autonomous systems. An AS should be connected to the outside world. Autonomous systems Convert a physical value to an electrical value. From temperature, humidity, light, to

More information

Deriving Consistency from LEGOs

Deriving Consistency from LEGOs Deriving Consistency from LEGOs What we have learned in 6 years of FLL and 7 years of Lego Robotics by Austin and Travis Schuh 1 2006 Austin and Travis Schuh, all rights reserved Objectives Basic Building

More information

Robotics II DESCRIPTION. EXAM INFORMATION Items

Robotics II DESCRIPTION. EXAM INFORMATION Items EXAM INFORMATION Items 37 Points 49 Prerequisites NONE Grade Level 10-12 Course Length ONE SEMESTER Career Cluster MANUFACTURING SCIENCE, TECHNOLOGY, ENGINEERING, AND MATHEMATICS Performance Standards

More information

C - Underground Exploration

C - Underground Exploration C - Underground Exploration You've discovered an underground system of tunnels under the planet surface, but they are too dangerous to explore! Let's get our robot to explore instead. 2017 courses.techcamp.org.uk/

More information

Probabilistic Robotics Course. Robots and Sensors Orazio

Probabilistic Robotics Course. Robots and Sensors Orazio Probabilistic Robotics Course Robots and Sensors Orazio Giorgio Grisetti grisetti@dis.uniroma1.it Dept of Computer Control and Management Engineering Sapienza University of Rome Outline Robot Devices Overview

More information

Trinity Autonomous Firefighting Robot Contest

Trinity Autonomous Firefighting Robot Contest Trinity Autonomous Firefighting Robot Contest University of Connecticut Senior Design Team Members: Katherine Drogalis, Electrical Engineering Zachariah Sutton, Electrical Engineering Chutian Zhang, Engineering

More information

Electronics Design Laboratory Lecture #6. ECEN2270 Electronics Design Laboratory

Electronics Design Laboratory Lecture #6. ECEN2270 Electronics Design Laboratory Electronics Design Laboratory Lecture #6 Electronics Design Laboratory 1 Soldering tips ECEN 227 Electronics Design Laboratory 2 Introduction to Lab 3 Part B: Closed-Loop Speed Control -1V Experiment 3A

More information

FLL Coaches Clinic Chassis and Attachments. Patrick R. Michaud

FLL Coaches Clinic Chassis and Attachments. Patrick R. Michaud FLL Coaches Clinic Chassis and Attachments Patrick R. Michaud pmichaud@pobox.com Erik Jonsson School of Engineering and Computer Science University of Texas at Dallas September 23, 2017 Presentation Outline

More information

Introduction. Theory of Operation

Introduction. Theory of Operation Mohan Rokkam Page 1 12/15/2004 Introduction The goal of our project is to design and build an automated shopping cart that follows a shopper around. Ultrasonic waves are used due to the slower speed of

More information

What is a robot? Introduction. Some Current State-of-the-Art Robots. More State-of-the-Art Research Robots. Version:

What is a robot? Introduction. Some Current State-of-the-Art Robots. More State-of-the-Art Research Robots. Version: What is a robot? Notion derives from 2 strands of thought: Introduction Version: 15.10.03 - Humanoids human-like - Automata self-moving things Robot derives from Czech word robota - Robota : forced work

More information

ECE 477 Digital Systems Senior Design Project Rev 8/09. Homework 5: Theory of Operation and Hardware Design Narrative

ECE 477 Digital Systems Senior Design Project Rev 8/09. Homework 5: Theory of Operation and Hardware Design Narrative ECE 477 Digital Systems Senior Design Project Rev 8/09 Homework 5: Theory of Operation and Hardware Design Narrative Team Code Name: _ATV Group No. 3 Team Member Completing This Homework: Sebastian Hening

More information

Overview of Challenges in the Development of Autonomous Mobile Robots. August 23, 2011

Overview of Challenges in the Development of Autonomous Mobile Robots. August 23, 2011 Overview of Challenges in the Development of Autonomous Mobile Robots August 23, 2011 What is in a Robot? Sensors Effectors and actuators (i.e., mechanical) Used for locomotion and manipulation Controllers

More information

Autonomous Following RObot Critical Design Review

Autonomous Following RObot Critical Design Review Autonomous Following RObot Critical Design Review James Tse (Leader) Wei Dai Travis Frecker Peter Verlangieri Professor John Johnson ECE 189A Fall 2012 Critical Design Review: Project Description A robot

More information

OBSTACLE EVADING ULTRASONIC ROBOT. Aaron Hunter Eric Whitestone Joel Chenette Anne-Marie Cressin

OBSTACLE EVADING ULTRASONIC ROBOT. Aaron Hunter Eric Whitestone Joel Chenette Anne-Marie Cressin OBSTACLE EVADING ULTRASONIC ROBOT Aaron Hunter Eric Whitestone Joel Chenette Anne-Marie Cressin ECE 511 - Fall 2011 1 Abstract The purpose of this project is to demonstrate how simple algorithms can produce

More information

Students will design, program, and build a robot vehicle to traverse a maze in 30 seconds without touching any sidewalls or going out of bounds.

Students will design, program, and build a robot vehicle to traverse a maze in 30 seconds without touching any sidewalls or going out of bounds. Overview Challenge Students will design, program, and build a robot vehicle to traverse a maze in 30 seconds without touching any sidewalls or going out of bounds. Materials Needed One of these sets: TETRIX

More information

Note to Teacher. Description of the investigation. Time Required. Materials. Procedures for Wheel Size Matters TEACHER. LESSONS WHEEL SIZE / Overview

Note to Teacher. Description of the investigation. Time Required. Materials. Procedures for Wheel Size Matters TEACHER. LESSONS WHEEL SIZE / Overview In this investigation students will identify a relationship between the size of the wheel and the distance traveled when the number of rotations of the motor axles remains constant. It is likely that many

More information

Nebraska 4-H Robotics and GPS/GIS and SPIRIT Robotics Projects

Nebraska 4-H Robotics and GPS/GIS and SPIRIT Robotics Projects Name: Club or School: Robots Knowledge Survey (Pre) Multiple Choice: For each of the following questions, circle the letter of the answer that best answers the question. 1. A robot must be in order to

More information

Lab 2. Logistics & Travel. Installing all the packages. Makeup class Recorded class Class time to work on lab Remote class

Lab 2. Logistics & Travel. Installing all the packages. Makeup class Recorded class Class time to work on lab Remote class Lab 2 Installing all the packages Logistics & Travel Makeup class Recorded class Class time to work on lab Remote class Classification of Sensors Proprioceptive sensors internal to robot Exteroceptive

More information

Sonic Distance Sensors

Sonic Distance Sensors Sonic Distance Sensors Introduction - Sound is transmitted through the propagation of pressure in the air. - The speed of sound in the air is normally 331m/sec at 0 o C. - Two of the important characteristics

More information

I.1 Smart Machines. Unit Overview:

I.1 Smart Machines. Unit Overview: I Smart Machines I.1 Smart Machines Unit Overview: This unit introduces students to Sensors and Programming with VEX IQ. VEX IQ Sensors allow for autonomous and hybrid control of VEX IQ robots and other

More information

GROUP BEHAVIOR IN MOBILE AUTONOMOUS AGENTS. Bruce Turner Intelligent Machine Design Lab Summer 1999

GROUP BEHAVIOR IN MOBILE AUTONOMOUS AGENTS. Bruce Turner Intelligent Machine Design Lab Summer 1999 GROUP BEHAVIOR IN MOBILE AUTONOMOUS AGENTS Bruce Turner Intelligent Machine Design Lab Summer 1999 1 Introduction: In the natural world, some types of insects live in social communities that seem to be

More information

Robotics using Lego Mindstorms EV3 (Intermediate)

Robotics using Lego Mindstorms EV3 (Intermediate) Robotics using Lego Mindstorms EV3 (Intermediate) Facebook.com/roboticsgateway @roboticsgateway Robotics using EV3 Are we ready to go Roboticists? Does each group have at least one laptop? Do you have

More information

Chassis & Attachments 101. Chassis Overview

Chassis & Attachments 101. Chassis Overview Chassis & Attachments 101 Chassis Overview 2016 1 Introductions Rest rooms location. Food and Drink: Complementary bottled water. Snacks available for purchase from UME FTC teams. Cell phones. Today presentation

More information

SR04 Mobile Robot by David P. Anderson

SR04 Mobile Robot by David P. Anderson SR04 Mobile Robot by David P. Anderson SR04 is a small mobile robot suitable for exploring human habitats unattended. It is controlled by a Motorola HC6811 microprocessor running in an M.I.T. 6.270 CPU

More information

PRESENTED BY HUMANOID IIT KANPUR

PRESENTED BY HUMANOID IIT KANPUR SENSORS & ACTUATORS Robotics Club (Science and Technology Council, IITK) PRESENTED BY HUMANOID IIT KANPUR October 11th, 2017 WHAT ARE WE GOING TO LEARN!! COMPARISON between Transducers Sensors And Actuators.

More information

A Lego-Based Soccer-Playing Robot Competition For Teaching Design

A Lego-Based Soccer-Playing Robot Competition For Teaching Design Session 2620 A Lego-Based Soccer-Playing Robot Competition For Teaching Design Ronald A. Lessard Norwich University Abstract Course Objectives in the ME382 Instrumentation Laboratory at Norwich University

More information

Distance Measurement of an Object by using Ultrasonic Sensors with Arduino and GSM Module

Distance Measurement of an Object by using Ultrasonic Sensors with Arduino and GSM Module IJSTE - International Journal of Science Technology & Engineering Volume 4 Issue 11 May 2018 ISSN (online): 2349-784X Distance Measurement of an Object by using Ultrasonic Sensors with Arduino and GSM

More information

AC : MICROPROCESSOR BASED, GLOBAL POSITIONING SYSTEM GUIDED ROBOT IN A PROJECT LABORATORY

AC : MICROPROCESSOR BASED, GLOBAL POSITIONING SYSTEM GUIDED ROBOT IN A PROJECT LABORATORY AC 2007-2528: MICROPROCESSOR BASED, GLOBAL POSITIONING SYSTEM GUIDED ROBOT IN A PROJECT LABORATORY Michael Parten, Texas Tech University Michael Giesselmann, Texas Tech University American Society for

More information

1. Introduction. 1.2 Harlie Overview

1. Introduction. 1.2 Harlie Overview HARLIE I, certify that the engineering design in the vehicle (original or changes) by the current student team has been significant and equivalent to what might be awarded credit in a senior design course.

More information

Sensor Data Fusion Using Kalman Filter

Sensor Data Fusion Using Kalman Filter Sensor Data Fusion Using Kalman Filter J.Z. Sasiade and P. Hartana Department of Mechanical & Aerospace Engineering arleton University 115 olonel By Drive Ottawa, Ontario, K1S 5B6, anada e-mail: jsas@ccs.carleton.ca

More information

Range Sensing strategies

Range Sensing strategies Range Sensing strategies Active range sensors Ultrasound Laser range sensor Slides adopted from Siegwart and Nourbakhsh 4.1.6 Range Sensors (time of flight) (1) Large range distance measurement -> called

More information

Sensors. human sensing. basic sensory. advanced sensory. 5+N senses <link> tactile touchless (distant) virtual. e.g. camera, radar / lidar, MS Kinect

Sensors. human sensing. basic sensory. advanced sensory. 5+N senses <link> tactile touchless (distant) virtual. e.g. camera, radar / lidar, MS Kinect Sensors human sensing 5+N senses basic sensory tactile touchless (distant) virtual advanced sensory e.g. camera, radar / lidar, MS Kinect Human senses Traditional sight smell taste touch hearing

More information

Development of Multiple Sensor Fusion Experiments for Mechatronics Education

Development of Multiple Sensor Fusion Experiments for Mechatronics Education Proc. Natl. Sci. Counc. ROC(D) Vol. 9, No., 1999. pp. 56-64 Development of Multiple Sensor Fusion Experiments for Mechatronics Education KAI-TAI SONG AND YUON-HAU CHEN Department of Electrical and Control

More information

Administrative Notes. DC Motors; Torque and Gearing; Encoders; Motor Control. Today. Early DC Motors. Friday 1pm: Communications lecture

Administrative Notes. DC Motors; Torque and Gearing; Encoders; Motor Control. Today. Early DC Motors. Friday 1pm: Communications lecture At Actuation: ti DC Motors; Torque and Gearing; Encoders; Motor Control RSS Lecture 3 Wednesday, 11 Feb 2009 Prof. Seth Teller Administrative Notes Friday 1pm: Communications lecture Discuss: writing up

More information

acknowledgments...xv introduction...xvii 1 LEGO MINDSTORMS NXT 2.0: people, pieces, and potential getting started with the NXT 2.0 set...

acknowledgments...xv introduction...xvii 1 LEGO MINDSTORMS NXT 2.0: people, pieces, and potential getting started with the NXT 2.0 set... acknowledgments...xv introduction...xvii about this book...xvii part I: introduction to LEGO MINDSTORMS NXT 2.0...xviii part II: building...xviii part III: programming...xviii part IV: projects...xix companion

More information

Wheeled Mobile Robot Obstacle Avoidance Using Compass and Ultrasonic

Wheeled Mobile Robot Obstacle Avoidance Using Compass and Ultrasonic Universal Journal of Control and Automation 6(1): 13-18, 2018 DOI: 10.13189/ujca.2018.060102 http://www.hrpub.org Wheeled Mobile Robot Obstacle Avoidance Using Compass and Ultrasonic Yousef Moh. Abueejela

More information

Electronics Design Laboratory Lecture #9. ECEN 2270 Electronics Design Laboratory

Electronics Design Laboratory Lecture #9. ECEN 2270 Electronics Design Laboratory Electronics Design Laboratory Lecture #9 Electronics Design Laboratory 1 Notes Finishing Lab 4 this week Demo requires position control using interrupts and two actions Rotate a given angle Move forward

More information

Team Autono-Mo. Jacobia. Department of Computer Science and Engineering The University of Texas at Arlington

Team Autono-Mo. Jacobia. Department of Computer Science and Engineering The University of Texas at Arlington Department of Computer Science and Engineering The University of Texas at Arlington Team Autono-Mo Jacobia Architecture Design Specification Team Members: Bill Butts Darius Salemizadeh Lance Storey Yunesh

More information

Gears and Speed Constant Distance Worksheet

Gears and Speed Constant Distance Worksheet Name: Date: Gears and Speed Constant Distance Worksheet Condition Number Of Teeth On Gear On Motor 1 2 3 Number Of Teeth On Gear On Rear Axle Gear Ratio (Rear Axle To Motor) Distance Tankbot Traveled (cm)

More information

Solar Powered Obstacle Avoiding Robot

Solar Powered Obstacle Avoiding Robot Solar Powered Obstacle Avoiding Robot S.S. Subashka Ramesh 1, Tarun Keshri 2, Sakshi Singh 3, Aastha Sharma 4 1 Asst. professor, SRM University, Chennai, Tamil Nadu, India. 2, 3, 4 B.Tech Student, SRM

More information

Exercise 1. Consider the following figure. The shaded portion of the circle is called the sector of the circle corresponding to the angle θ.

Exercise 1. Consider the following figure. The shaded portion of the circle is called the sector of the circle corresponding to the angle θ. 1 Radian Measures Exercise 1 Consider the following figure. The shaded portion of the circle is called the sector of the circle corresponding to the angle θ. 1. Suppose I know the radian measure of the

More information

Controlling and modeling of an automated guided vehicle

Controlling and modeling of an automated guided vehicle Controlling and modeling of an automated guided vehicle Daniel Antal, Ph.D. student Robert Bosch department of mechatronics University of Miskolc Miskolc, Hungary antal.daniel@uni-miskolc.hu Tamás Szabó,

More information

Week Lesson Assignment SD Technology Standards. SPA Handout. Handouts. Handouts/quiz. Video/handout. Handout. Video, handout.

Week Lesson Assignment SD Technology Standards. SPA Handout. Handouts. Handouts/quiz. Video/handout. Handout. Video, handout. Week Lesson Assignment SD Technology Standards 1 Lesson 1: Intro to Robotics class Discuss goals of class & definition of a robot SPA Define engineering, programming and system. Define managing a project.

More information

CSC C85 Embedded Systems Project # 1 Robot Localization

CSC C85 Embedded Systems Project # 1 Robot Localization 1 The goal of this project is to apply the ideas we have discussed in lecture to a real-world robot localization task. You will be working with Lego NXT robots, and you will have to find ways to work around

More information

Chapter 7: The motors of the robot

Chapter 7: The motors of the robot Chapter 7: The motors of the robot Learn about different types of motors Learn to control different kinds of motors using open-loop and closedloop control Learn to use motors in robot building 7.1 Introduction

More information

Design Lab Fall 2011 Controlling Robots

Design Lab Fall 2011 Controlling Robots Design Lab 2 6.01 Fall 2011 Controlling Robots Goals: Experiment with state machines controlling real machines Investigate real-world distance sensors on 6.01 robots: sonars Build and demonstrate a state

More information

Mobile Robot Exploration and Map-]Building with Continuous Localization

Mobile Robot Exploration and Map-]Building with Continuous Localization Proceedings of the 1998 IEEE International Conference on Robotics & Automation Leuven, Belgium May 1998 Mobile Robot Exploration and Map-]Building with Continuous Localization Brian Yamauchi, Alan Schultz,

More information

GE 320: Introduction to Control Systems

GE 320: Introduction to Control Systems GE 320: Introduction to Control Systems Laboratory Section Manual 1 Welcome to GE 320.. 1 www.softbankrobotics.com 1 1 Introduction This section summarizes the course content and outlines the general procedure

More information

Realistic Robot Simulator Nicolas Ward '05 Advisor: Prof. Maxwell

Realistic Robot Simulator Nicolas Ward '05 Advisor: Prof. Maxwell Realistic Robot Simulator Nicolas Ward '05 Advisor: Prof. Maxwell 2004.12.01 Abstract I propose to develop a comprehensive and physically realistic virtual world simulator for use with the Swarthmore Robotics

More information

Robot Autonomous and Autonomy. By Noah Gleason and Eli Barnett

Robot Autonomous and Autonomy. By Noah Gleason and Eli Barnett Robot Autonomous and Autonomy By Noah Gleason and Eli Barnett Summary What do we do in autonomous? (Overview) Approaches to autonomous No feedback Drive-for-time Feedback Drive-for-distance Drive, turn,

More information

An Introduction to Programming using the NXT Robot:

An Introduction to Programming using the NXT Robot: An Introduction to Programming using the NXT Robot: exploring the LEGO MINDSTORMS Common palette. Student Workbook for independent learners and small groups The following tasks have been completed by:

More information

POSITIONING AN AUTONOMOUS OFF-ROAD VEHICLE BY USING FUSED DGPS AND INERTIAL NAVIGATION. T. Schönberg, M. Ojala, J. Suomela, A. Torpo, A.

POSITIONING AN AUTONOMOUS OFF-ROAD VEHICLE BY USING FUSED DGPS AND INERTIAL NAVIGATION. T. Schönberg, M. Ojala, J. Suomela, A. Torpo, A. POSITIONING AN AUTONOMOUS OFF-ROAD VEHICLE BY USING FUSED DGPS AND INERTIAL NAVIGATION T. Schönberg, M. Ojala, J. Suomela, A. Torpo, A. Halme Helsinki University of Technology, Automation Technology Laboratory

More information

Design of a Drift Assist Control System Applied to Remote Control Car Sheng-Tse Wu, Wu-Sung Yao

Design of a Drift Assist Control System Applied to Remote Control Car Sheng-Tse Wu, Wu-Sung Yao Design of a Drift Assist Control System Applied to Remote Control Car Sheng-Tse Wu, Wu-Sung Yao International Science Index, Mechanical and Mechatronics Engineering waset.org/publication/10005017 Abstract

More information

1 Lab + Hwk 4: Introduction to the e-puck Robot

1 Lab + Hwk 4: Introduction to the e-puck Robot 1 Lab + Hwk 4: Introduction to the e-puck Robot This laboratory requires the following: (The development tools are already installed on the DISAL virtual machine (Ubuntu Linux) in GR B0 01): C development

More information

MAKER: Development of Smart Mobile Robot System to Help Middle School Students Learn about Robot Perception

MAKER: Development of Smart Mobile Robot System to Help Middle School Students Learn about Robot Perception Paper ID #14537 MAKER: Development of Smart Mobile Robot System to Help Middle School Students Learn about Robot Perception Dr. Sheng-Jen Tony Hsieh, Texas A&M University Dr. Sheng-Jen ( Tony ) Hsieh is

More information

Autonomous Following RObot Initial Design Review

Autonomous Following RObot Initial Design Review Autonomous Following RObot Initial Design Review James Tse (Leader) Wei Dai Travis Frecker Peter Verlangieri Professor John Johnson ECE 189A Fall 2012 Initial Design Review: Project Description Original

More information

CS123. Programming Your Personal Robot. Part 3: Reasoning Under Uncertainty

CS123. Programming Your Personal Robot. Part 3: Reasoning Under Uncertainty CS123 Programming Your Personal Robot Part 3: Reasoning Under Uncertainty Topics For Part 3 3.1 The Robot Programming Problem What is robot programming Challenges Real World vs. Virtual World Mapping and

More information

Experiment 4.B. Position Control. ECEN 2270 Electronics Design Laboratory 1

Experiment 4.B. Position Control. ECEN 2270 Electronics Design Laboratory 1 Experiment 4.B Position Control Electronics Design Laboratory 1 Procedures 4.B.1 4.B.2 4.B.3 4.B.4 Read Encoder with Arduino Position Control by Counting Encoder Pulses Demo Setup Extra Credit Electronics

More information

Lab 2A: Introduction to Sensing and Data Acquisition

Lab 2A: Introduction to Sensing and Data Acquisition Lab 2A: Introduction to Sensing and Data Acquisition Prof. R.G. Longoria Department of Mechanical Engineering The University of Texas at Austin June 12, 2014 1 Lab 2A 2 Sensors 3 DAQ 4 Experimentation

More information

Budget Robotics Octabot Assembly Instructions

Budget Robotics Octabot Assembly Instructions Budget Robotics Octabot Assembly Instructions The Budget Robotics Octabot kit is a low-cost 7" diameter servo-driven robot base, ready for expansion. Assembly is simple, and takes less than 15 minutes.

More information

Sensors and Sensing Motors, Encoders and Motor Control

Sensors and Sensing Motors, Encoders and Motor Control Sensors and Sensing Motors, Encoders and Motor Control Todor Stoyanov Mobile Robotics and Olfaction Lab Center for Applied Autonomous Sensor Systems Örebro University, Sweden todor.stoyanov@oru.se 13.11.2014

More information

Abstract Entry TI2827 Crawler for Design Stellaris 2010 competition

Abstract Entry TI2827 Crawler for Design Stellaris 2010 competition Abstract of Entry TI2827 Crawler for Design Stellaris 2010 competition Subject of this project is an autonomous robot, equipped with various sensors, which moves around the environment, exploring it and

More information

6.081, Fall Semester, 2006 Assignment for Week 6 1

6.081, Fall Semester, 2006 Assignment for Week 6 1 6.081, Fall Semester, 2006 Assignment for Week 6 1 MASSACHVSETTS INSTITVTE OF TECHNOLOGY Department of Electrical Engineering and Computer Science 6.099 Introduction to EECS I Fall Semester, 2006 Assignment

More information

Development of a Laboratory Kit for Robotics Engineering Education

Development of a Laboratory Kit for Robotics Engineering Education Development of a Laboratory Kit for Robotics Engineering Education Taskin Padir, William Michalson, Greg Fischer, Gary Pollice Worcester Polytechnic Institute Robotics Engineering Program tpadir@wpi.edu

More information

CS123. Programming Your Personal Robot. Part 3: Reasoning Under Uncertainty

CS123. Programming Your Personal Robot. Part 3: Reasoning Under Uncertainty CS123 Programming Your Personal Robot Part 3: Reasoning Under Uncertainty This Week (Week 2 of Part 3) Part 3-3 Basic Introduction of Motion Planning Several Common Motion Planning Methods Plan Execution

More information

The Cricket Indoor Location System

The Cricket Indoor Location System The Cricket Indoor Location System Hari Balakrishnan Cricket Project MIT Computer Science and Artificial Intelligence Lab http://nms.csail.mit.edu/~hari http://cricket.csail.mit.edu Joint work with Bodhi

More information

1 of 5 01/04/

1 of 5 01/04/ 1 of 5 01/04/2004 2.02 &KXFN\SXWWLQJLWDOOWRJHWKHU :KRV&KXFN\WKHQ" is our test robot. He grown and evolved over the years as we ve hacked him around to test new modules. is ever changing, and this is a

More information

University of Florida Department of Electrical and Computer Engineering Intelligent Machine Design Laboratory EEL 4665 Spring 2013 LOSAT

University of Florida Department of Electrical and Computer Engineering Intelligent Machine Design Laboratory EEL 4665 Spring 2013 LOSAT University of Florida Department of Electrical and Computer Engineering Intelligent Machine Design Laboratory EEL 4665 Spring 2013 LOSAT Brandon J. Patton Instructors: Drs. Antonio Arroyo and Eric Schwartz

More information

The Discussion of this exercise covers the following points: Angular position control block diagram and fundamentals. Power amplifier 0.

The Discussion of this exercise covers the following points: Angular position control block diagram and fundamentals. Power amplifier 0. Exercise 6 Motor Shaft Angular Position Control EXERCISE OBJECTIVE When you have completed this exercise, you will be able to associate the pulses generated by a position sensing incremental encoder with

More information

Page ENSC387 - Introduction to Electro-Mechanical Sensors and Actuators: Simon Fraser University Engineering Science

Page ENSC387 - Introduction to Electro-Mechanical Sensors and Actuators: Simon Fraser University Engineering Science Motor Driver and Feedback Control: The feedback control system of a dc motor typically consists of a microcontroller, which provides drive commands (rotation and direction) to the driver. The driver is

More information

Robot Navigation System with RFID and Ultrasonic Sensors A.Seshanka Venkatesh 1, K.Vamsi Krishna 2, N.K.R.Swamy 3, P.Simhachalam 4

Robot Navigation System with RFID and Ultrasonic Sensors A.Seshanka Venkatesh 1, K.Vamsi Krishna 2, N.K.R.Swamy 3, P.Simhachalam 4 Robot Navigation System with RFID and Ultrasonic Sensors A.Seshanka Venkatesh 1, K.Vamsi Krishna 2, N.K.R.Swamy 3, P.Simhachalam 4 B.Tech., Student, Dept. Of EEE, Pragati Engineering College,Surampalem,

More information

Chassis & Attachments 101. Part 1: Chassis Overview

Chassis & Attachments 101. Part 1: Chassis Overview Chassis & Attachments 101 Part 1: Chassis Overview 2017 1 Introductions Rest rooms location. Food and Drink. Cell phones. Today presentation available at: http://www.roboplex.org/fll 2 What can be used

More information

INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET) TWO WHEELED SELF BALANCING ROBOT FOR AUTONOMOUS NAVIGATION

INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET) TWO WHEELED SELF BALANCING ROBOT FOR AUTONOMOUS NAVIGATION INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET) International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN 0976 6545(Print) ISSN 0976 6553(Online)

More information

WELCOME TO THE SEMINAR ON INTRODUCTION TO ROBOTICS

WELCOME TO THE SEMINAR ON INTRODUCTION TO ROBOTICS WELCOME TO THE SEMINAR ON INTRODUCTION TO ROBOTICS Introduction to ROBOTICS Get started with working with Electronic circuits. Helping in building a basic line follower Understanding more about sensors

More information

ECE 445 Spring 2017 Autonomous Trash Can. Group #85: Eshwar Cheekati, Michael Gao, Aditya Sule

ECE 445 Spring 2017 Autonomous Trash Can. Group #85: Eshwar Cheekati, Michael Gao, Aditya Sule ECE 445 Spring 27 Autonomous Trash Can Group #85: Eshwar Cheekati, Michael Gao, Aditya Sule Introduction High amount of waste generated Poor communication/trash management -> smelly odors Need for reminder

More information

Mindstorms NXT. mindstorms.lego.com

Mindstorms NXT. mindstorms.lego.com Mindstorms NXT mindstorms.lego.com A3B99RO Robots: course organization At the beginning of the semester the students are divided into small teams (2 to 3 students). Each team uses the basic set of the

More information

CENG 5931 HW 5 Mobile Robotics Due March 5. Sensors for Mobile Robots

CENG 5931 HW 5 Mobile Robotics Due March 5. Sensors for Mobile Robots CENG 5931 HW 5 Mobile Robotics Due March 5 Sensors for Mobile Robots Dr. T. L. Harman: 281 283-3774 Office D104 For reports: Read HomeworkEssayRequirements on the web site and follow instructions which

More information

Testing Autonomous Hover Algorithms Using a Quad rotor Helicopter Test Bed

Testing Autonomous Hover Algorithms Using a Quad rotor Helicopter Test Bed Testing Autonomous Hover Algorithms Using a Quad rotor Helicopter Test Bed In conjunction with University of Washington Distributed Space Systems Lab Justin Palm Andy Bradford Andrew Nelson Milestone One

More information

Sensors and Sensing Motors, Encoders and Motor Control

Sensors and Sensing Motors, Encoders and Motor Control Sensors and Sensing Motors, Encoders and Motor Control Todor Stoyanov Mobile Robotics and Olfaction Lab Center for Applied Autonomous Sensor Systems Örebro University, Sweden todor.stoyanov@oru.se 05.11.2015

More information

Integrating Exploration and Localization for Mobile Robots

Integrating Exploration and Localization for Mobile Robots Submitted to Autonomous Robots, Special Issue on Learning in Autonomous Robots. Integrating Exploration and Localization for Mobile Robots Brian Yamauchi, Alan Schultz, and William Adams Navy Center for

More information

Undefined Obstacle Avoidance and Path Planning

Undefined Obstacle Avoidance and Path Planning Paper ID #6116 Undefined Obstacle Avoidance and Path Planning Prof. Akram Hossain, Purdue University, Calumet (Tech) Akram Hossain is a professor in the department of Engineering Technology and director

More information

5 TIPS FOR GETTING THE MOST OUT OF Your Function Generator

5 TIPS FOR GETTING THE MOST OUT OF Your Function Generator 5 TIPS FOR GETTING THE MOST OUT OF Your Function Generator Introduction Modern function/waveform generators are extremely versatile, going well beyond the basic sine, square, and ramp waveforms. Function

More information

MOBILE ROBOTICS. Sensors An Introduction

MOBILE ROBOTICS. Sensors An Introduction CY 02CFIC CFIDV RO OBOTIC CA 01 MOBILE ROBOTICS Sensors An Introduction Basilio Bona DAUIN Politecnico di Torino Basilio Bona DAUIN Politecnico di Torino 001/1 CY CA 01CFIDV 02CFIC OBOTIC RO An Example

More information

A Simple Design of Clean Robot

A Simple Design of Clean Robot Journal of Computing and Electronic Information Management ISSN: 2413-1660 A Simple Design of Clean Robot Huichao Wu 1, a, Daofang Chen 2, Yunpeng Yin 3 1 College of Optoelectronic Engineering, Chongqing

More information

Critical Design Review: M.A.D. Dog. Nicholas Maddy Timothy Dayley Kevin Liou

Critical Design Review: M.A.D. Dog. Nicholas Maddy Timothy Dayley Kevin Liou Critical Design Review: M.A.D. Dog Nicholas Maddy Timothy Dayley Kevin Liou Project Description M.A.D. Dog is an autonomous robot with the following functionalities: - Map and patrol an office environment.

More information

Blind Spot Monitor Vehicle Blind Spot Monitor

Blind Spot Monitor Vehicle Blind Spot Monitor Blind Spot Monitor Vehicle Blind Spot Monitor List of Authors (Tim Salanta, Tejas Sevak, Brent Stelzer, Shaun Tobiczyk) Electrical and Computer Engineering Department School of Engineering and Computer

More information