april 30 th , 2010
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April 30th, 2010
Freedom Innovation Research
Topics CoveredIntroductionSystem OverviewProject BudgetTimelineFuture DevelopmentQuestion and Answers
Team Members
Steven ChoiKenta YuanRichard Zhang
John OgawaJason Tsai
Hardware and Drivers
Client Side Software/Testing
Motivation14% of Canadian population has some
form of disabilityHalf of reported disabilities are mobility
restrictionsDifficulty taking a book or cup from a
distant tableAutomated system can improve quality of
life
Product: Retriever 247
Robot ArmItem
Identify
ControlUnits
Drive Syste
m
Top
Center
Base
System OverviewWhat it’s made of?
System OverviewProject Conceptual Model
System OverviewClient and Server Communication
Hardware OverviewLifting Platform
Hardware OverviewRobotic Arm
Hardware OverviewLine Sensor
Hardware OverviewUltrasonic Distance Sensor
Software OverviewDriver and real-time programming
MultithreadServer and client create wireless channel for
communicationVideo streaming server
GUIVisual C++ and .NET Framework
Project BudgetFunding: ESSEF: $ 800Wighton(applied)
Total Spending:$1692.6
Component CostController and Driving System DC, Servo, motor coupler and connector 321.11Wheels 49.47Central Controller 400.38Sensors Reflectance Sensor Array 76.44Utrasonic Range Sensor 40.45Compass Module 70.13RFID module 89.99Accelerometer 20.67Current Sensor 15Mechanical Base and Arm material 214.68Power H Bridge 10Power components (battery, regulator, relay) 97.5Protection Fuses 8.54Miscellaneous Electronic Components 116.3Wireless Router 50Shipping Total 62.11Tax 49.85Total Cost 1692.6
Timeline
Future DevelopmentMore sophisticated Robotic ArmMap generationWebcam position ControlReduce robot weightImage processingSelf located without lines on floor
Courses that helped us ENSC 489 – Computer aid design and manufacturing ENSC 483 – Modern control system ENSC 425, ENSC 325, ENSC225 – Analog circuits, buck convertor, non-ideal
op-amp ENSC 387 – Sensors and Actuators ENSC383 – Feedback control system ENSC 351 – Real-time embedded System ENSC 330 – Engineering materials ENSC 320 – Filters ENSC 304 – Usability engineering ENSC 250 – Logic gates ENSC 230 – introduction to mechanical design ENSC 220 – Electric circuits CMPT 225 – Data structure CMPT 128 – C++ object orientated programming And most importantly, engineering co-op experiences
Final RemarksOverall System:Managed to meet the major functional
specificationFully automated algorithm requires more
optimizationAutomatic Map Generation is still under
integration
What we learned:Communication and Team workMeeting deadlinesWork with limited facility and budget
Demoand
Questions
ASB is my home.
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