Transcript RoboVac - Stevens Institute of Technology

RoboVac
Raymond Perez
Jetmir Palushi
Juan Gamarra
Joseph Seborowski
Diego Molina
Objectives
Better Cleaning
More Power
Algorithm
Design
Dirt Sensors
Mapping
Outshining Competition
Objectives
Initiate Prototyping Phase
 Research cheap/effective parts
(i.e. sensors,motors,casing…)
 Purchase components
 Commence troubleshooting (testing phases)
 Progress well within project plan
Project Plan
Task Name
Start
End
Project Plan
1/9/07
1/11/07
Parts List
1/25/07
2/8/07
Ordering Parts
1/25/07
2/22/07
Define Objectives
1/11/07
1/17/07
Refine Final Design
1/11/07
2/11/07
Validate Prototyping 2/9/07
2/13/07
Manufacturability
1/11/07
2/12/07
Prototype Building
2/15/07
3/4/07
Detailed Tasks
 Choosing appropriate parts
 Microprocessor
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Motors
Casing
Battery
Omni-directional components
Recycling of “Roomba” parts
Manufacturability
• Building Process
• Quick Assembly
Casing
Major problem so far
Plastic Injection Molding
First Cut Prototype and Proto-mold both turned
us down
Casing Continued
Austro Mold - $800
Metal – lighter metals, Al
Plastic Bin – fits specific dimensions
CNC
Casing Alternatives
Mapping
 Path optimization
 Eliminate cleaned areas
 Radial Closed Loop Path
 Visited path marked as obstacle
 Memory optimization
 Complex geometry path prevention
Sensors and Electrical
Components
Bumper Switches
 Obstacles (e.g. wall, couches)
Light Sensors
 Detect Dirt
Proximity Infrared Sensors
 Stair detection
Voltage Regulators
 Switch DC/DC voltage regulator
Resistors, Capacitors, Transistors and LED
Microcontroller
Low Supply-Voltage
 1.8-3.6V
Ultra low-Power
Consumption
 Standby mode
12 Bit A/D converter
Memory
 60Kb Flash
 2Kb RAM
Programming
IAR Embedded
Workbench IDE
High level programming
(C, C++)
Omni-Directional
Platform
Cost of Prototyping
Weight of Bearing
Refining Design
 Changes incurred
 Casing revisions due to size limitations
 Choosing the “brain”
 Altering blower intake
 Location of motors
 Omni-directional obstacles
Refining Design
• New Blowers
– Previous option was no longer available
– Next best thing was found at Digi-key
– Modification needed to fit system
• E-bay parts chosen
– High Prices for low quantity orders
– Wheel Tire set
– Brushes
Progress
 Prototyping
 Parts received
 Parts still pending
 Returns
 Pending Deliverables
 Robot body
 Final Cost Analysis
 Programming
Financial Breakdown
Obstacles
Case molding
Maintaining price range $
Controlling directional movement
Obtaining market niche
Staying within timeline