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MAE576 GroupD Project Report Final

MAE576 GroupD Project Report Final

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Published by mail2priyanshu8428
Abstract
Autonomous mobile robots capitalize on their ability to intelligently, efficiently and reliably interact with their environment. This makes them suitable for various applications that are hazardous or unpleasant for human beings. Their task may range from as simple as following a line, to as complex as enduring the extreme environment of a distant planet, and thereby collect useful data for humans. This report deals with an autonomous mobile robot guided by a vision system for sorting objects based on their color. The system have autonomous mode, assitive mode and manual mode. In the autonomous mode the robot and the vision system will work in unision to identify various objects (balls) and escort them to their respective home positions based on their color. In the assistive mode, the vision system assistis the user with a feedback and helps in capturing the ball and placing it at its home location. In the manual mode the vision system provides a video of the robot workspace and the user can navigate the robot to its home location. In all the above mentioned modes, the robot communicates with the computer using bluetooth.
Abstract
Autonomous mobile robots capitalize on their ability to intelligently, efficiently and reliably interact with their environment. This makes them suitable for various applications that are hazardous or unpleasant for human beings. Their task may range from as simple as following a line, to as complex as enduring the extreme environment of a distant planet, and thereby collect useful data for humans. This report deals with an autonomous mobile robot guided by a vision system for sorting objects based on their color. The system have autonomous mode, assitive mode and manual mode. In the autonomous mode the robot and the vision system will work in unision to identify various objects (balls) and escort them to their respective home positions based on their color. In the assistive mode, the vision system assistis the user with a feedback and helps in capturing the ball and placing it at its home location. In the manual mode the vision system provides a video of the robot workspace and the user can navigate the robot to its home location. In all the above mentioned modes, the robot communicates with the computer using bluetooth.

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Published by: mail2priyanshu8428 on May 27, 2010
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02/24/2013

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University at BuffaloDepartment of Mechanical and Aerospace Engineering
Mechatronics Final Project
Spring 2010
SMARTY
 
 A Vision based autonomous ball sorting robotic system
 
Priyanshu Agarwal | Dipen Dave | Ravikiran Chollangi | Jason Lieu
 
 Abstract
 Autonomous mobile robots capitalize on their ability to intelligently, efficiently and reliably interact with their environment. This makes them suitable for various applications that arehazardous or unpleasant for human beings. Their task may range from as simple as following aline, to as complex as enduring the extreme environment of a distant planet, and thereby collect useful data for humans. This report deals with an autonomous mobile robot guided by a vision system for sorting objects based on their color. The system have autonomous mode,assitive mode and manual mode. In the autonomous mode the robot and the vision system will work in unision to identify various objects (balls) and escort them to their respective homepositions based on their color. In the assistive mode, the vision system assistis the user with afeedback and helps in capturing the ball and placing it at its home location. In the manualmode the vision system provides a video of the robot workspace and the user can navigate therobot to its home location. In all the above mentioned modes, the robot communicates with thecomputer using bluetooth.
 
 
Contents
1.
 
Introduction 51.1 Design Objective 61.2 Features of DC Motor Control System 61.3 System Architecture 91.4 User Operation Instructions 102. Hardware 112.1 List of Components 112.2a Microcontroller (Master BASIC Stamp 2) Pin Assignment 112.2b Microcontroller (Slave BASIC Stamp 2) Pin Assignment 122.3 Hardware Description 132.4 Circuit Diagrams 202.5 Mechanical Setup 223. Software 263.1 PBASIC Commands 263.2 Programming Challenges 264. Mathematical Methods 274.1 Manual Mode 274.2 Autonomous/Assistive Mode 275. Implementation5.1 Software Algorithms5.1.1 System Overview 315.1.2 Navigation Algorithm 325.1.3 Image Processing Algorithm 1 and 2 335.1.4 Ball Calibration Algorithm 345.1.5 Robot Constants calibration 405.1.6 Manual mode 415.1.7 Assistive mode425.1.8 Basic stamp –II (RF – Communication)435.1.9 Basic Stamp II (Onboard) 446. Calibration & Testing6.1 Different Balls Calibration 466.2 Bot Calibration 476.3 Testing 496.3.1 Ball Calibration 496.3.2 Robot Calibration 50

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