Final PresentationFinal Presentation

EEL 5666CEEL 5666CINTELLIGENT MACHINES INTELLIGENT MACHINES DESIGN LABORATORYDESIGN LABORATORY

APRIL 12APRIL 12thth, 2005, 2005

Cliff PannellaCliff Pannella

Robot: “DICE”Robot: “DICE”

Outline / Overview :Outline / Overview : OBJECTIVESOBJECTIVES THE ROBOT:THE ROBOT:

CONTROLLERCONTROLLER PLATFORMPLATFORM MOVEMENTMOVEMENT SENSORSSENSORS METHODSMETHODS

WHAT WENT WRONGWHAT WENT WRONG

Objectives:Objectives: Roll the diceRoll the dice Locate the diceLocate the dice Position the dice properlyPosition the dice properly Read valuesRead values Calculate win or lossCalculate win or loss

Win: 2,3,4,5,10,11,12Win: 2,3,4,5,10,11,12 Loss: 6,7,8,9Loss: 6,7,8,9

RepeatRepeat

Controller:Controller: MAVRIC-II BoardMAVRIC-II Board

ATMEGA 128 ATMEGA 128 MicrocontrollerMicrocontroller

Power board: Power board: (Eagle v4.14)(Eagle v4.14) Regulated to 5VRegulated to 5V

Platform:Platform:

Movement:Movement:

Sensor Suite Includes:Sensor Suite Includes:Bump SensorsBump Sensors Obstacle DetectionObstacle DetectionInfrared Sensors Infrared Sensors Obstacle AvoidanceObstacle Avoidance Object Searching/ConfirmationObject Searching/ConfirmationPhotoreflectors Photoreflectors Value DetectionValue Detection

Bump SensorsBump SensorsPlacement:Placement:

Infrared Sensors:Infrared Sensors:Placement:Placement:

SHARP GP2D120SHARP GP2D120INFRARED OBJECT DETECTORINFRARED OBJECT DETECTOR (Shorter Detection Range: 4 cm-30 (Shorter Detection Range: 4 cm-30 cm)cm)

Output Voltage Output Voltage (V) (V)

Object Distance Object Distance

(cm) (cm)

0

0.5

1

1.5

2

2.5

3

0 2 4 6 8 10 20 30 40

P5587 HAMAMATSU PHOTO IC DIGITAL P5587 HAMAMATSU PHOTO IC DIGITAL OUTPUT PHOTOREFLECTOROUTPUT PHOTOREFLECTOR

Circuit: Circuit:

Dice-Reading AlgorithmDice-Reading Algorithm Template:Template:

Start with most straight-forward method:Start with most straight-forward method:

5 and not (1,2,3,4,6,7,8,9)5 and not (1,2,3,4,6,7,8,9)

This is very inefficient, and not cost-effective This is very inefficient, and not cost-effective at allat all

Method: Method: *5 Photoreflectors for each die*5 Photoreflectors for each die*Minimum amount necessary to *Minimum amount necessary to

ensure proper readensure proper read*Explained in following slide*Explained in following slide

Dice-Reading AlgorithmDice-Reading Algorithm5 AND NOT 1,3

1 AND NOT (3,5) OR3 AND NOT (1,5)

(1,5) AND NOT 3 OR(3,5) AND NOT 1

(1,3) AND NOT (4,5,8)

(1,3,5)

(1,4) OR (1,8)

ProbabilitiesProbabilities 36 possible rolls36 possible rolls

2: 1 chance2: 1 chance 8: 5 chances8: 5 chances3: 2 chances3: 2 chances 99 : 4 chances: 4 chances4: 3 chances4: 3 chances 10: 3 chances10: 3 chances5: 4 chances5: 4 chances 11: 2 chances11: 2 chances6: 5 chances6: 5 chances 12: 1 chances12: 1 chances7: 6 chances7: 6 chances

Wins: 1+2+3+4+3+2+1 = 16 16/36=44.4% Wins: 1+2+3+4+3+2+1 = 16 16/36=44.4% Losses: 5+6+5+4 = 20Losses: 5+6+5+4 = 20 chance of winningchance of winning

Special Sensor (x2)Special Sensor (x2)Design done using Eagle Software (Version 4.14)

Assembled SpecialAssembled SpecialSensor Board:Sensor Board:

P5587 HAMAMATSU PHOTO IC DIGITAL P5587 HAMAMATSU PHOTO IC DIGITAL OUTPUT PHOTOREFLECTORSOUTPUT PHOTOREFLECTORS

Output Output VoltageVoltage (V) (V)

Distance (mm) Distance (mm)0

1

2

3

4

5

6

0 1 2 3 4 5 6 7 8

Methods/Software:Methods/Software: Incremental DevelopmentIncremental Development Circle playing area searching for die;Circle playing area searching for die;

Use Obstacle Avoidance FunctionsUse Obstacle Avoidance Functions Verify proper storage of die; find the Verify proper storage of die; find the

remaining one and do the sameremaining one and do the same Calculate values using special Calculate values using special

sensorssensors

WHAT WENT WRONG?WHAT WENT WRONG? Rolling the Rolling the

dicedice

As of now: As of now:

WHAT WENT WRONG WHAT WENT WRONG (cont’d)(cont’d)

Estimation/Time AllocationEstimation/Time Allocation Murphy’s LawMurphy’s Law No LaptopNo Laptop

THE ENDTHE ENDPlace your bets!Place your bets!