Michael Imhof (EE)Michael Cheney (ME) Michael Hvorecny (ME) Jared Dodge (ME) Brandon LaQuay (ME)
Pat Arrigo – Team Lead/ME Wes Coleman – ME Steve Guenther – EE Adam Spirer – EE Vernon...
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Transcript of Pat Arrigo – Team Lead/ME Wes Coleman – ME Steve Guenther – EE Adam Spirer – EE Vernon...
![Page 1: Pat Arrigo – Team Lead/ME Wes Coleman – ME Steve Guenther – EE Adam Spirer – EE Vernon Vantucci – CE Aaron Zimmerman - ME.](https://reader035.fdocuments.net/reader035/viewer/2022062516/56649d2d5503460f94a032c7/html5/thumbnails/1.jpg)
Robot Integration and Testing
Pat Arrigo – Team Lead/MEWes Coleman – ME
Steve Guenther – EEAdam Spirer – EE
Vernon Vantucci – CEAaron Zimmerman - ME
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Third Team on Project Track
Inherited Project from Locomotion and Navigation Teams
Worked in parallel with Robot Applications Team
Introduction
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Fully Integrate Navigation Software/Electrical Components with Locomotion Chassis and Motors/Motor Control
Test Customer Specifications Integrate Robot with Application Team’s
Software Create and Mount shell to Chassis and Paint
Initial Project Expectations and Goals
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Customer Needs and Specifications
P10215 P10216
Robot carries and cares for a plant
Robot moves slowly Promotes innovation and
green values at RIT Friendly to passing
pedestrians Must be able to return
home Last an entire day of
roaming
◦ System uses navigation and plant sensors in order to capture real-world data, and gain an understanding of the surroundings.
◦ Develop firmware for all of the sensors.
◦ Develop software to perform navigational tasks using sensor data.
◦ Maintain a wireless connection to a host computer in order to send status updates.
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System Architecture
BeagleBoard
MSP430 MSP430 MSP430
Motor H-Bridges
Motor Encoders
Plant Sensor Cluster
Navigation Sensor Cluster
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Small model used to prove concept
Sculpting full scale took longer than expected◦ Sheer scale◦ Material Differences: Styrofoam vs.
Pink foam Despite delays, shell is
complete and painted
Shell Creation
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Navigation Team components and Locomotion Motor Controllers did not work properly◦ Majority of MSD II spent on debugging and fixing
Robot was not fully functional until ~Week 8◦ Testing of Specifications was not done due to time
constraints (suggested for future teams)
Major Setbacks
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Item Vendor QuantityCost Total P/N
Triple Axis Acclerometer Breakout ADX6345 SparkFun 1 $27.95 $27.95 SEN-09156MSP430F6111 Header Board SparkFun 2 $34.95 $69.90 DEV-0047Straight Breakaway Headers SparkFun 4 $2.50 $10.00 PRT-00116Female Breakaway Headers SparkFun 4 $1.50 $6.00 PRT-00115
1 gallon + 42.6 oz 3:1 Epoxy Resin Kit US Composites 1 $61.00 $61.00 EPOX-6353143:1 Ratio Pumps (2pk) US Composites 1 $6.25 $6.25 EPX-P31
10z E-Glass Plain Weave, 38" w, .0154" thk US Composites 15 $5.55 $83.25 FG-c1038
Encoder cable US Digital 3 $10.30 $30.90 CA-MIC3-SH-NC-1
USB 2 Serial-USB Adapter Amazon 2 $14.58 $29.16 B0006LSIOI
Sandisk 4GB SD Amazon 2 $6.33 $12.66 B000PA1073A
DS Breadboard PCB, 1160 holes Sure Elec. 5 $0.89 $4.45 CS-BP008
Hitachi HM55B Compass Module Parallax Inc. 1 $29.99 $29.99 21923
Butt Connectors- Crimp WalMart 1 $4.18 $4.18 003749582220
Female Spade Connectors WalMart 1 $1.98 $1.98 003749582228Male Spade Connectors WalMart 2 $1.38 $2.76 003749582227
Mold SuppliesWes Coleman (HD) $160.00
Misc. Hardware Pat Arrigo (HD) $50.00
TOTAL: $590.43
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Week 1 ◦ Initial shell design finalized,
components purchased Week 2
◦ Evaluation of Locomotion/firmware “bugs”
Week 4◦ Header board completion
Week 5◦ Sensors remounted◦ Shell Top & Front complete
Week 6◦ New encoder design integrated◦ H-Bridge functionality solved
Milestones- MSDII Week 7
◦ Shell components test fit, trimmed
◦ Shell top, front, sides painted◦ Remote Control implemented via
gamepad Week 8
◦ Remote Control finalized◦ Shell top mounted◦ Plant, solar panels mounted◦ ImagineRIT
Remote Control verified Battery charge expectancy verified
Week 9◦ Shell front mounts made
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Robot is capable of meeting all locomotion-related requirements Sensor Data Acquisition
◦ Compass data not being translated correctly◦ All other positional and plant sensors reporting data correctly
Shell◦ Shell pieces made◦ Top & Front trimmed for fit and sensor/plant clearance◦ Top mounted in final location◦ Front mounts made, not yet attached to chassis◦ Rear & sides unmounted, untrimmed◦ All pieces painted with design scheme
Formal Platform Testing◦ Originally a project requirement◦ Platform reconstruction took precedence◦ Formal test plan methodology developed◦ No formal test plans run◦ ImagineRIT platform validation
Current State of Design
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Test customer specifications (velocity, turning radius etc.)
Powder coat the chassis to prevent rust Purchase printed circuit board Integrate Application software with current
Robot (to make autonomous) Add 2 more rear Sonar Sensors
◦ To guard against the back end of Robot bumping into things as it turns
Suggestions for Future Teams
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Number of Original Project Goals Met: 0
Number of Robots Created: 1
Senior Design Course: 0
Senior Design Team: 1
Summary