PROJECT PROPOSAL

NATIONAL ENGINEERING ROBOTICS COMPETITION 13

SUBMITTED BY: Hafsa Muqaddus Sidra Arshad Amirah Anwar Muzammil Ejaz Asad Naeem Amna Maqbool

2010-MC-03 2010-MC-17 2010-MC-19 2010-MC-22 2010-MC-24 2010-MC-40

SUBMITTED TO: Mr. Misbah-ur-Rehman

UNIVERSITY OF ENGINEERING AND TECHNOLOGY

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CONTENTS

Introduction Problem Statement Proposed Solution Project Details Name of robot Mechanical Portion Electrical Portion Software CAD Design Arena Budget Requirements Evaluation Plan Conclusion References

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INTRODUCTION
The integration and evaluation of various mechanical and electronics designs, control and path planning algorithms and agent architectures for the solution of a particular task for indigenous category of IERC13. Maze solving, Obstacle Detection, Color detection, Ball potting according to a given sequence and speed is required to complete the task. This proposal suggests the solutions for each part of the problem as well as the timeline to complete the designing, fabrication, programming and testing of indigenous robot.

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PROBLEM STATEMENT
The theme is to come up with autonomous robots that are capable of navigating and searching their way inside a maze locating four different colored boxes and placing balls of respective colors in them, in the pre-specified order as determined by the colored stripes at the start of the race. The colored stripes on the floor will determine the order in which the robot has to pot the balls. The stripes will be of two colors: yellow and black. The order in which these stripes will be placed at the start line will only be known before the start of the match. The robot should be able to search a maze for colored boxes and place balls in them according to pre-specified order. Each maze ends up to the green zone which is the only pathway to pot the golden ball. The robot will only be allowed to access the green zone after it has potted all the balls in the appropriate order in the required colored boxes. The order in which the yellow and black balls are to be potted will be determined by the colored stripes at the start of the arena. However green ball can be potted at anytime. The golden ball may only be potted after potting the other three balls. Each maze has seven gates. During a match one of the entrance gates either Z1 or Z2 will be opened. Similarly two of the gates from X1 or X2 and Y1 or Y2 will be opened. The final gate to the golden box will be opened once the robot has satisfactorily potted all the balls in their respective boxes. Each match will be of maximum 3 minutes. The Contest arena shown in figure 1 consists of two identical mazes, red maze where red team will run their robot and blue maze where blue team will run their robot

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PROPOSED SOLUTION
1. Color of Arena: Color of Arena will be detected by a color sensor made from discrete components and will be stored in memory of microcontroller and corresponding code will be executed. 2. Sequence of Ball potting: Sequence of Ball potting will also be determined by a color sensor made from discrete components and will be stored in memory of microcontroller and balls will be potted according to the sequence of colors stored in memory. i.e. color which is stored first that ball will be potted first. 3. Maze Solving: 4 Sharp IR Sensors will be used. 4. Interchangeable doors: Some doors in maze can be interchanged. Our algorithm will be intelligent enough to reverse the direction of robot and find its way through maze. 5. Detection of colored boxes: Color sensor IC will be used. 6. Ball potting mechanism: Our Robot will use gravity for potting the balls in the box. 7. Navigation Through Maze: Differential Drive mechanism will be used for navigation through maze.

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PROJECT DETAILS
NAME OF ROBOT:
____NOISY BOY____ NOISY BOY was on excile tour. Now he is back home and is ready to make some noise..!!

MECHANICAL PORTION:
BASE: Two bases are made one above the other. They are made of aluminium due to high strength and light weight in comparison with other materials. Size 25 x 25 and 25 x 30. Weight under 1 kg. Base was first designed then implemented.

LOWER BASE

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UPPER BASE CLAMPS: for attachment of Sharp IR sensors (5 cm), Color sensors (5 cm), Second Base (8 cm) and motors (5cm and 4cm). Weight under 10 grams.

MOTOR CLAMPS

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UPPER BASE CLAMP

SENSOR CLAMP

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STEPPER MOTOR CLAMP NAILS: 4 mm diameter nails are used.

WHEELS: Rubber wheels, light weight as grip of rubber wheels is good. Diameter is 10 cm. 4 in number, 2 with motors and 2 caster wheels. Caster wheel is made of plastic. Weight 10 grams.

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CASTER WHEEL

WHEEL MOTORS: 2 dc geared motors with encoder will be used as encoders will provide a feedback which will help in position control of motors. With help of this, precise rotation can be achieved. Specifications are: 24 Volts PPM 170 RPM 440 Torque 0.6nm Half Kilogram weight. Current Rating: 3 to 5 Amperes Gear Ratio: 13.7
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(Gear ratio and torque are directly proportional to each other) Stepper motor for ball potting mechanism as controlling of stepper motor is very easy and it moves in steps or degrees. Less than 360 degrees rotation can be achieved. Step Angle 1.8 degrees Rated Voltage 3.1 Volts Rated Current 2.5 Amperes Torque 4800 g cm No of leads 4 4 grams weight

BALL POTTING MECHANISM: A circular disc mounted on second base. On second base a stepper motor is fixed into it in the middle. There is a hole of diameter as that of the ball on the outer side of second base. Disc is attached to the shaft of stepper motor and is supported by the 4 balls to be potted. Disc is rotated by stepper motor. There are four holes of diameter as that of balls at same distance from each other in the disc. Colored balls with the desired sequence are placed in them. When a desired Box will be detected in front of robot, stepper motor will be rotated to a certain degree and that ball will come above the second bases hole and will fall due to gravity.

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DIFFERENTIAL DRIVE MECHANISM: This mechanism is used for navigation of robot through maze.

ELECTRICAL PORTION:

SHARP INFRARED SENSORS: will be used for wall tracking. 4 sensors are used for the desired resolution. Model: GP2Y0A02YK0F Sharp sensor with range 10 cm to 80 cm. COLOR SENSOR WITH DISCRETE COMPONENTS: for the detection of color of arena and sequence of ball potting this circuit will be used.

COLOR SENSOR IC: an IC will be used for detection of color of boxes. ADJD-S371-QR99 RGB sensor.

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MOTOR DRIVER AND MICROCONTROLLER PCB: 3 Motor driver pcbs with discrete components will be made using transistors. We are using PIC18f452 microcontroller.

PIC MICROCONTROLLER PCB

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MOTOR DRIVER POWER SUPPLY: We will use batteries of laptop as robots power source because discharge rate of laptop batteries is less than that of Nimh or Nicad batteries. In addition to this, they are lighter in weight.

SOFTWARE:
We will use C language for the programming of robot. This portion will be handled in the last two months.

CAD DESIGN:

EXPLODED VIEW:

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ARENA: We planned to make the arena for testing and practice but
other group started making it and all other groups contributed in it.

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BUDGET REQUIREMENTS

COMPONENT Base Clamps Wheels DC Motor with encoder Stepper motor Ball potting mechanism Sharp IR sensors Color sensor discrete components Color sensor IC PCB Power Supply Arena TOTAL

PRICE (Rs.) 200 500 600 2 x 7800 400 300 4 x 1530 100 1650 1000 2500 8025 40055

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EVALUATION PLAN
NERC13 is in mid of June. We have three and a half months approximately. TIME Feb last week March 1 st week March 2 nd week March 3 rd week March 4 th week April 1 st week April 2 nd week April 3 rd week April 4 th week May 1 st week WORK Fabrication and testing of PCBs Fabrication of ball potting mechanism and calibration of sensors on blue arena Calibration of sensors on red arena and testing of motors Testing of motors and interfacing with motor driver and microcontroller Testing motors with sensors Testing ball potting mechanism with sensors Testing ball potting mechanism with sensors and testing color detection Testing all type of sensors with a single code Testing motors with all type of sensors. Programming Attaching all components together and testing motors with all type of sensors and testing ball potting. Programming.

May 2 nd week up till June 1 st week Programming and testing June 2 nd week Final Testing

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CONCLUSION
NOISY BOY will prove to be the fastest, the most intelligent, stable, controlled and problem free indigenous robot to solve NERC13 task and will win the competition INSHAA ALLAH.

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REFERENCES
http://www.robotroom.com/ReversedLED2.html http://ceme.nust.edu.pk/nerc/indigenous.php

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