Improved Robotic Arm and Turntable for Sensitivity

Characterization of Occupancy Sensors

Will HedgecockBrian Auerbach

John Sullivan

Sam GarzaAnne KilloughBob RamenofskyHavan Tucker

Turntable Team Robotic Arm Team

Sponsor Information

• Saves energy by minimizing unused light

• Detects major motion in rooms up to 1000 sq. ft. using PIR

Current Testing Procedure

Simulate the testingroom by rotating the sensor and setting the robotic arm at various locations in the coverage pattern. (Measurements in feet)

Project Description

• Improve current testing procedure• Automate testing procedures within NEMA

constraints• Improve Arm

• Emit IR spectrum similar to that of human arm• Provide more stable arm• Less “jitter” when starting/stopping• Can be held in any position for over an hour

Operational Concept

Command and Control Interface

Robotic ArmControls

Turntable Controls

AutomatedTesting Grid

Functional Flowchart

Robotic Arm Assembly Overview

1 NetBurner MOD5272 DevKit4 Silicone Rubber Heaters4 Solid State Relays1 OMEGA 1504 Multi-loop PID1 120VAC Variable Transformer2 Open-loop direct-drive steppers1 Roll of Electrical Tape

Hardware Overview

Infrared Background Information

Thermal Proof of Concept

Turntable Assembly Overview

PowerSupply

Turntable AssemblyServo Motor

PowerSupply

Microcontroller

Motor Angle and Sensor Data

Robotic Arm Assembly

PC

Sen

sor D

ata

Com

man

d an

dC

ontro

l Sig

nals

Sensor Circuitry

Sensor

Turntable Microcontroller

Responsibilities• Maintain communications with the computer• Control the servo motor• Keep track of the status of the relay

Turntable Hardware

Motor• Hitec HS645MG servo motor• 107 oz-in. of torque at 4.8 V• Dual ball bearing design• Weighs 1.94 oz.

Sensor Mount• Indoor single gang box• PVC construction

Cart• Buhl BAV-4226C compact AV cabinet cart• 42’’ tall