Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.
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Transcript of Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.
![Page 1: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/1.jpg)
Tony Soprano: “Waste Management”
Final PresentationSalvatore Torre
11/25/2008
![Page 2: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/2.jpg)
Introduction
• Tony Soprano: “Waste Management” is an autonomous recyclable material seeking robot.
• Recyclable material:
![Page 3: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/3.jpg)
Drive System
- 2 DC Motors supplied with 12 V optically isolated- Driven by two motor driver boards
1. Supplies the power2. Controls direction & isolation
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Collision Avoidance
• 4 IR Proximity Sensors mounted on the each side and embedded at the front of the dozer
![Page 5: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/5.jpg)
SONAR Array
• Used to search for recyclable materials and to avoid obstacles
![Page 6: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/6.jpg)
The “Shutter”
• The “Shutter” is what traps the recyclable• Controlled by 1 servo motor
![Page 7: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/7.jpg)
Special Sensor Array
![Page 8: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/8.jpg)
Sorting Bins
• Once Tony has the recyclables he sorts them into 1 of 3 bins controlled by two servo motors
![Page 9: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/9.jpg)
Dozer Lift
• The dozer lift physically picks up the recyclable and delivers it to the sorting bins
![Page 10: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/10.jpg)
Conclusion
• Tony navigates an environment in search of glass, plastic, or aluminum recyclable materials.
• Once he finds something, he uses his shutter to trap it.
• The reflectance sensor array classifies the recyclable as either glass, plastic, or aluminum
• The Dozer Lift carries the recyclable to the bins• The bins sort the recyclable
![Page 11: Tony Soprano: “Waste Management” Final Presentation Salvatore Torre 11/25/2008.](https://reader030.fdocuments.net/reader030/viewer/2022032606/56649e9c5503460f94b9d074/html5/thumbnails/11.jpg)
Future Work
• Perfecting the Dozer Lift
• Perfecting the search with the SONAR array
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Tony Soprano: “Waste Management”