Intelligent Autonomous Robot used to Collect Hazardous Material Group 5 Ben Bishop Jibu Abraham Steve Mezzo Tracy Shigemura
Presentation Agenda � Overview � Project Requirements � Detailed Description � Program Concepts � Sensors � Integration of Sensors and Roomba � Containment Design Concepts
Project Overview � Design an intelligent fully Autonomous robot for detection and collection of Hazardous Material � Design a containment system for the material � Emphasis on Intelligence and autonomy
Product Requirements
Detailed Description � Assumptions � Rectangular room � Minimal obstructions � Material is colored power � Plan of attack � Created localized map of room with Ultrasonic range finder � Avoid/ hug obstacles with infrared sensor � Locate material using CMU cam-color detection
Programming Intro � Control Program will perform several tasks: � Collect data from sensors � Interpret data and make decisions � Implement appropriate algorithm � Language of choice: Visual Basic
Programming: This Semester � Create and test motor subroutines � Collect and react to sensor data � Create and test wall-hugging / obstacle avoidance algorithm
Program Storyboard � General Control Program
Program Storyboard � Searching for spills
Program Storyboard � Cleaning the spills
Program Storyboard � Wall-hugging flowchart using infrared sensors
Programming Difficulties � Mapping strategy � Use ultrasonic sensor to determine location of obstructions � Map obstructions into a matrix � Difficulties in mapping will affect: � Creation of search grid � Localization of Hazbot and spills
Mapping concept � Mapping Concept � Room divided into matrix � 1 stored where obstruction is � Data obtained by ultrasonic sensor and CMUcam = Roomba = Obstructed square = Previously occupied square
= Previously occupied square Mapping Concept cont’d = Obstructed square = Roomba
Long Distance Ranging � Devantech SRF04 Ranger � Low Cost � Fast response time � Long range � Low power
Short Distance Ranging � Less influence on the color of reflected objects, reflectivity � Analog voltage corresponding to distance � Detecting distance of 4 to 30 cm � External control circuit unnecessary � Low Cost
Infrared Calibration
CMUcam
Hazbot Command
Roomba
Hazbot Command � Labjack u12-DAQ board � Pros: � Allows us to use VB for mapping idea � Works with OOPIC board � Lots of support on website � Cons: � Ultrasonic sensor does not interface well � No PWM output for motor driver
Hazbot Command
Hazbot Command � OOPIC microcontroller Board � Pros: � Works well with ultrasonic sensor � Has PWM outputs for motor driver � Uses BASIC syntax � Free � Cons: � Programming language not powerful
Sample Code
Hazbot Command � Motor Driver � Controls the motors using PWM (Pulse width modulation) � Allows for additional power for motors
Hazmat Options � Hazardous materials considered: � Anthrax � Transuranic Waste (Radio-Active) � Remote handled � Contact handled � Material must be: � Solid form � Appropriate size/ weight range � Not extremely easily disbursed into atmosphere
Concept Designs
Concept Chosen Features: Features: + Modular disposable containment + Modular disposable containment system connected using current system using quick-connect mechanism Roomba configuration + Large space for storage of collected + Vacuum pump located at front material close to entrance of material + “Trap door” - Narrow window for suction + Larger collection area - Little space for storage - Will need a more powerful pump - Material can fall out from entry point
Final Concept
Final Concept
Final Concept
Project Gantt Chat
Questions Questions Questions Questions
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