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RAMMBO
the Robot
Butler
Robert Moroson
Angela Uribe
Melissa Jansen
Mahdi Moghaddamzadeh
Bianca Ragin
Our team (as stated above)
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Obje
ctiv
es
Serves snacks/beverages upon request
Find owner location
Obstacle avoidance mechanism
CANDY SHOOTER!!!
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Applic
ati
ons
& A
dva
nta
ges
Useful for disabilities limiting ability to walk
Used in offices and at homes to save time
Separate refrigerator unit to load RAMMBO
Served right to your desk, couch, beds, etc…
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Goals
Low Able to navigate itself
Find signal coming from owner
Move towards signal
Med Recognize and avoid
obstacles
Receive vocal commands In form of claps
High Able to carry and shoot
candies on command
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Functional Outline .
Sending Commands
Wireless Transmitte
r
Wireless Receiver
MicroprocessorVoltage
AmplifierPowering Motors
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Const
rain
ts
Object sensing system
Powerful RF transmitter and receiver
Efficient program for path finding/rerouting
Cost
Candy shooting system
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Wir
ele
ss
Com
munic
ati
o n
Xbee 1mW “Series 1” boards
Range = 300 feet
USB programmable
3.3 V’s, 50 mA
250 Kbps data rate
128 bit encryption
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Software
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ATmega2560
microcontroller
Input voltage: 7-12V
54 Digital I/O Pins (14 PWM
outputs)
16 Analog Inputs
256k Flash Memory
16Mhz Clock Speed
Arduino Mega 2560
Microcontroller
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
Control
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Control
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
Wireless Communication
Sensors
Position SensingWheelControl
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User Control
Testing commands 0x0: Status
0x1: Rotate Left
0x2: Rotate Right
0x3: Forward
0x4: Stop User Commands 0x9: Come
0xA: Go away
More for other functions
Code 0 1 2 3 4 5 6 7
Command
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Soft
ware
Flo
w
Wait for commandLocate userNavigate to user Don’t bump into stuffStop
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Software FlowTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
Sound-Recognitio
n
Goal Locator
Go Forward
Arrival
Obstacle Detector Interrupt
Await Comman
d
Maze-Running Algorith
m
Select Direction
CommandUser
Control
Inte
rrup
t
No Command
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Hardware
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SensingSensing
Obstacle Avoidanc
e
Infrared Pressure Ultrasonic
Find Caller
GPS Ultrasonic
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Obsta
cles
Cliff SensingWall SensingTransmitter & Receiver next to each otherVery Inexpensive
Distance Sensing from 3cm to 30cm
More expensive than
Infrared
Single Pole Single ThrowShort Circuits when PressedVery InexpensiveSimple to Implement
Obstacle Avoidanc
e
Infrared Ultrasonic Pressure
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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GPS vs.
Ultra
sonic
Find Caller
GPS Ultrasonic
Transmitter on Remote
One or Two Receivers on Robot
Price within our budget
Need two Remote Robot
Accurate within cm Accuracy increases
price Not within our
budgetTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Hardware
FlowTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Envi
ronm
enta
l & S
afe
ty
Impact
Disposal of parts 2-3 feet tall Tripping hazard Risk of it knocking items over if it hits a
table
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Operation & Appearance
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Move
ment
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
Microcontroller
Motor Driver
4 Optical Encoders
4 Motors
4 Tires & Wheels
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MotorsHT08-020 Stepper Motor
Two-phase stepper motor
Suitable for a wide range of
motion control applications
High Torque Weight 0.1lbs
Phase Voltage: 2.8V
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Tire
s Northern Pneumatic Wheels
8" Tires
Non-marking Tires
250lbs Capacity
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Opti
cal
Enco
ders
Size: 0.48" diameter
Single chip sensing technology
-40°C to 125°C operating temp
10-bit Analog output 2.6 kHz sampling rate
10-bit PWM output 1024 positions per revolution
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Moto
r Drive
r
Chip protects logic chips
Isolate electrical noise
Prevents short-circuits
Diodes give voltage protection
Capacitors reduce electrical noise and provide peak power
Pull-up resistors prevent motor movement during power up/down
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Phys
ical
Desi
gn
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Division of Labor
Physical Design1st : Bianca2nd : Angie
Budget/Schedule
1st: Melissa2nd: Bianca Power
1st :Bianca2nd : Angie
Wireless1st : Mahdi
2nd : Melissa
Sensing1st : Melissa2nd : Mahdi Movement
1st : Angie2nd : Robert
Microcontroller1st : Robert2nd : Mahdi
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Pow
er
Up
9V Battery Pack Motor Driver – 12V Motors – 5V Encoder – 5V Microcontroller – 12V
Xbees – 6.6VTotal: three 9V batteries
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Logistics
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Sch
edule
By PDR:
Initial version
of users manual written
Create core circuit design
Fill out UROP funding form
Order parts
By CDR:
Finish core and peripheral circuit design
First revision of prototype
Software implementation
Finalize body design
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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ScheduleMilestone 1
Motor and power systems functional Move through
instantaneous input
Command transmitter good for debugging
Programming completed
Milestone 2
Obstacle maneuvering
Establish wireless communication Comes on
command
Looks pretty Full body built
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Functional Gantt Chart
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Pla
nned
Budget
Item PurposeCost (Est.
)XBee 1mW
Chip (2)Wireless Comm $50
XBee Explorer USB
(2)
Development Board
$50
AtmelActual
Microcontroller$10
Wheels (4) Movement $60Motors (4) Movement $355
Encoders (4) Motor Control $160
Tax/Shipping ------------------------- $50
Total $735
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Financia
l Aid
Donations
Microcontroller
9V Batteries
Robot structure
Funding
3rd party support
UROP Grant
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Manufa
ctura
bili
ty &
Sust
ain
abili
ty
Manufacturability Accurate Wireless
communication High resolution motors
Body holds weight of other
partsSustainability Low power consumption
Reliable parts and processors Straight-forward debugging
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Questions?Thanks
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011
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Questions?Thanks
Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011