Robot Integration and Testing

Pat Arrigo – Team Lead/MEWes Coleman – ME

Steve Guenther – EEAdam Spirer – EE

Vernon Vantucci – CEAaron Zimmerman - ME

Third Team on Project Track

Inherited Project from Locomotion and Navigation Teams

Worked in parallel with Robot Applications Team

Introduction

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

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.

System Architecture

BeagleBoard

MSP430 MSP430 MSP430

Motor H-Bridges

Motor Encoders

Plant Sensor Cluster

Navigation Sensor Cluster

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

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

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

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

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

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

Number of Original Project Goals Met: 0

Number of Robots Created: 1

Senior Design Course: 0

Senior Design Team: 1

Summary