RAMMBO the Robot Butler

RAMMBO

the Robot Butler

Robert Moroson

Angela Uribe

Melissa Jansen

Mahdi Moghaddamzadeh

Bianca Ragin

Our team (as stated above)

Obje

ctive

s

Serves snacks/beverages upon request

Find owner location

Obstacle avoidance mechanism

CANDY SHOOTER!!!

Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Appl

icatio

ns

& Ad

vant

ages

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…


Goal

s

Low Able to navigate itself Find signal coming from

owner Move towards signal

Med Recognize and avoid

obstacles Receive vocal commands

In form of clapsHigh

Able to carry and shoot candies on command


Functional Outline .

Sending Commands

Wireless Transmitte

rWireless Receiver

Microprocessor Voltage Amplifier

Powering Motors


Cons

train

ts

Object sensing system

Powerful RF transmitter and receiver

Efficient program for path finding/rerouting

Cost

Candy shooting system


Wire

less

Co

mm

unica

tio n

Xbee 1mW “Series 1” boards

Range = 300 feet USB programmable3.3 V’s, 50 mA250 Kbps data rate128 bit encryption


Software

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


Control

Control


Wireless Communication

Sensors

Position SensingWheelControl

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


Softw

are

Flow

Wait for commandLocate userNavigate to user Don’t bump into stuffStop


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

Inter

rupt

No Command

Hardware

SensingSensing

Obstacle Avoidanc

e

Infrared Pressure Ultrasonic

Find Caller

GPS Ultrasonic


Obstacles

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


GPS vs.

UltrasonicFind

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

Hardware Flow


Envir

onm

enta

l & S

afet

y Im

pact

Disposal of parts 2-3 feet tall Tripping hazard Risk of it knocking items over if it hits a table


Operation & Appearance

Move

men

t


Microcontroller

Motor Driver

4 Optical Encoders

4 Motors

4 Tires & Wheels

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


Tires

Northern Pneumatic Wheels

8" Tires

Non-marking Tires

250lbs Capacity


Optic

al

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 revolutionTeam RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other

9/06/2011

Motor Driver 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


Phys

ical

Desig

n


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


Powe

r Up

9V Battery Pack Motor Driver – 12V Motors – 5V Encoder – 5V Microcontroller – 12V

Xbees – 6.6VTotal: three 9V batteries


Logistics

Sche

dule 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


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


Functional Gantt Chart


Planned Budget

Item PurposeCost (Est.

)XBee 1mW

Chip (2) Wireless Comm $50XBee

Explorer USB (2)

Development Board $50

Atmel Actual Microcontroller $10

Wheels (4) Movement $60Motors (4) Movement $355

Encoders (4) Motor Control $160Tax/Shipping ------------------------- $50

Total $735Team RAMMBO Robert, Angie, Melissa, Mahdi, Bianca, Other 9/06/2011

Financial AidDonations

Microcontroller

9V Batteries

Robot structure

Funding

3rd party support

UROP Grant


Manu

fact

urab

ility

&

Sust

aina

bilit

y

Manufacturability Accurate Wireless

communication High resolution motors Body holds weight of other

partsSustainability Low power consumption Reliable parts and processors

Straight-forward debugging


Questions?Thanks


Questions?Thanks


Date post:	16-Feb-2016
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RAMMBO the Robot Butler

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