PROJECT THREE: MILESTONE 2 – COVER PAGE

Team Number: Mon-45

Please list full names and MacID’s of all present Team Members.
Full Name: MacID:
Danielle Fong fongd5
Milica Nenadovic nenadovm
Alexander Verity veritya
Parth Kotecha kotechap
MILESTONE 2 (STAGE 1) – SENSOR RESEARCH
(COMPUTATION SUB-TEAM)
Team Number: Mon-45

You should have already completed this task individually prior to Design Studio 14.

1. Each team member is expected to research 3 types of sensors for characterizing

bins
→ Refer to Table 3 of the Computation Sub-Team Objectives document
2. For each sensor:
→ Briefly describe how the sensor works
→ Indicate the attribute you would measure to characterize each bin (refer to
Table 4 of the Computation Sub-Team Objectives document)

We are asking that you submit your work on both worksheets. It does seem redundant,
but there are valid reasons for this:
• Each team member needs to submit their sensor research with the Milestone Two
Individual Worksheets document so that it can be graded
• Compiling your individual work into this Milestone Two Team Worksheets
document allows you to readily access your team member’s work
o This will be especially helpful when completing Stage 3 of the milestone
 Team Number: Mon-45

Name: Danielle Fong MacID: fongd5

Sensor Type Description Attribute(s)

Ultrasonic Sensor Emits ultrasonic sound waves to determine the Distance of target
distance of an object by converting reflective bin
sound waves into an electrical signal.
LDR(LightDependent Detects a change in light and will adjust its Material,
Resistor) resistance according to the amount of light Contamination
detected, allowing more or less current to flow.
Hall Sensor Measures the magnitude of a magnetic field and Material,
detects magneticity by its output voltage and can Contamination
be used for proximity sensing, positioning, speed
detection, and current sensing.

“About Hall Sensors,” AKM [Online]. Available: https://www.akm.com/kr/en/technology/technical-

tutorial/basic-knowledge-magnetic-sensor/hall-sensors/. [Accessed: January 25, 2021].
D. Jost, “What is an Ultrasonic Sensor?,” Fierce Electronics [Online]. Available:
https://www.fierceelectronics.com/sensors/what-ultrasonic-
sensor#:~:text=An%20ultrasonic%20sensor%20is%20an,sound%20that%20humans%20ca
n%20hear). [Accessed: January 25, 2021].
K. Spurr, “How an LDR (Light Dependent Resistor) Works,” Kitronik [Online]. Available:
https://kitronik.co.uk/blogs/resources/how-an-ldr-light-dependent-resistor-
works#:~:text=An%20LDR%20is%20a%20component,used%20in%20light%20sensing%20
circuits. [Accessed: January 25, 2021].
“Light Sensors,” Electronics Tutorials [Online]. Available: https://www.electronics-
tutorials.ws/io/io_4.html. [Accessed: January 25, 2021].
 Team Mon-45
Number:

Name: Milica Nenadovic MacID: nenadovm

Sensor Type Description Attribute(s)

Colour Sensor The sensor emits a light from a transmitter, which then Light Intensity of
reflects off the object (bin) and is detected by a reflected red,
receiver. Like the average human’s eyes the blue and green
receptors detect by light intensity for red, blue and (wavelengths).
green.
Active Infrared (IR) Act as proximity sensors. The sensor uses reflected Distance via
Sensor infrared light from LED to sense when objects are infrared
near. reflection.
Retro-reflective A light is emitted, reflected by a special reflector, and Presence of
Photoelectric Sensor received by the sensor. An object is detected when Object
the path between the sensor and reflector is
obstructed, there are various reflection beam
switches depending on object being detected.

“Detection based on ‘Light‘What is a Color sensor?,” KEYENCE. [Online]. Available:

https://www.keyence.com/ss/products/sensor/sensorbasics/color/info/. [Accessed: 25-Jan-
2021].
D. Jost, “What is an IR sensor?,” FierceElectronics, 30-Jul-2019. [Online]. Available:
https://www.fierceelectronics.com/sensors/what-ir-
sensor#:~:text=Active%20infrared%20sensors%20both%20emit%20and%20detect%20inf
rared%20radiation.&text=When%20an%20object%20comes%20close,(such%20as%20in
%20robots). [Accessed: 25-Jan-2021].
“Retroreflective Sensors,” Photoelectric Sensors manufactured by Senasys. [Online]. Available:
http://senasysphotosensors.com/photoelectric-sensors/retroreflective-sensors. [Accessed:
25-Jan-2021].
MILESTONE 2 (STAGE 2) – CONCEPT SKETCHES
(MODELLING SUB-TEAM)
Team Mon-45
Number:

You should have already completed this task individually prior to Design Studio 14.

1. Copy-and-paste each sub-team member’s refined sketch on the following pages (1

sketch per page)
→ Be sure to indicate each team member’s Name and MacID

We are asking that you submit your work on both worksheets. It does seem redundant,
but there are valid reasons for this:
• Each team member needs to submit their concept sketches with the Milestone
Two Individual Worksheets document so that it can be graded
• Compiling your individual work into this Milestone Two Team Worksheets
document allows you to readily access your team member’s work
o This will be especially helpful when completing Stage 4 of the milestone
 Team Mon-45
Number:

Name: Alexander Verity MacID: veritya

 Team Mon-45
Number:

Name: Parth MacID: kotechap

Insert screenshot(s) of your concept sketches below
MILESTONE 2 (STAGE 3) – SENSOR CHARACTERIZATION
(COMPUTATION SUB-TEAM)
Team Mon-45
Number:

1. As a team, consolidate the results of your individual sensor research

→ Discuss your findings and appropriateness of each sensor for your application
→ Keep discussion brief, using point form
Sensor Type Findings and Appropriateness for Application
Ultrasonic Sensor • Emits sound waves at a high frequency
• Can determine the distance of objects using reflective sound waves
and converting it into an electrical signal
• Useful to sense the distance of the bin from the Qbot
LDR(Light • a light controlled variable resistor
Dependant • Is capable of sensing light changes of an object
Resistor) • If a plastic bottle is clean, it can sense light through the bottle but if
a plastic bottle is contaminated, the dirtiness can block out the light
shining through the bottle
Hall Sensor • Can detect a magnetic field and magnetic objects
• Produces an output voltage to sense the magnetic field
• Can be used to determine whether a container is metal since it can
sense magnetism of an object
Colour Sensor • Photoelectric sensor, 2 components (one to emit and one to
receive)
• Works off reflection of emitted light
• Senses different wavelengths and intensities to differentiate
between colours
• Good for color differentiation
Active Infrared (IR) • Photoelectric sensor, 2 components (one to emit and one to
Sensor receive)
• Uses reflected infrared light from LED to sense when objects are
nearby.
• Ideal when coding to distance from objects, not
differentiate
Retro-reflective • “Special” reflective surface necessary
Photoelectric • Not ideal for moving sensor
Sensor • An object is detected when the path between the sensor and
reflector is obstructed
• Various reflection beam switches depending on object being
detected.

2. Identify one sensor to incorporate into your computer program

The colour sensor is useful to distinguish between the different bins.

3. Identify an attribute value for each bin

Bin ID Attribute Value
Bin01: Metal Bin Red
Bin02: Paper Bin Green
Bin03: Plastic Bin Blue
Bin04: Garbage Bin Black

MILESTONE 2 (STAGE 4) – DECISION MATRIX

(MODELLING SUB-TEAM)
Team Mon-45
Number:
1. As a team, establish a weighting factor for each criterion
→ Move row-by-row
• If Criteria 1 is preferred over Criteria 2, assign a 1. Otherwise, assign 0
• If Criteria 1 is preferred over Criteria 3, assign a 1. Otherwise, assign 0
→ Add additional rows/columns as needed
Stability Complexity Efficiency Overall Cost Score
Stability 1 1 1 1 4
Complexity 0 1 1 1 3
Efficiency 0 0 1 1 2
Overall Cost 0 0 0 1 1

2. As a team, evaluate your concepts against each criterion using your weighting
→ Add additional rows as needed
Alex-Linear Alex-Rotary Parth-Linear Parth-Rotary
Weight
Rating Weighted Rating Weighted Rating Weighted Rating Weighted
Rating Rating Rating Rating

Stability 4 1 4 3 12 3 12 4 16
Complexity 3 3 9 4 12 3 9 2 6
Efficiency 2 2 4 4 8 4 8 5 10
Overall Cost 1 4 4 4 4 3 3 2 2
TOTAL 21 36 32 34

3. Discuss conclusions based on evaluation, including what concept you’ve chosen

We chose this design because out of all the designs, this one is the simplest, while at the same
time, maintaining the stability and efficiency required for the task at hand. Although this design
may not be the most efficient or stable out of the other 3, it is still able to safely deposit the
recyclables from the container into the correct bin.