o Played on 12’x12’ Vex field (Shown below)o Two-minute roundso Points awarded for o Trash collectiono Trash depositiono Stopping enemy litterbug over RF

o Types of trash on fieldo Plastic Bottleso Soda Canso Paper Trayso Chip Bags

o To compete in IEEE R5 Robotics Competition with the intent to aid in litter collection

o Goal of the competition is to create a robot that will :o Autonomously collect, sort, and dispose

of littero Communicate and stop litterbug robot

Purpose Top Level Diagram

Group EE 2.05 – ALES

Competition Specs

Group Members

Logic Flow Chart

Sensor Tests

IEEE Region 5 Robotics Competition

Playing Field

o An enemy robot that will be dropping trash onto the field

o Will be sending RF chatter specifying the type of trash being dropped

o The goal is to stop litterbug by sending stop command for each piece type of trash on board

o IEEE R5 Host Committee will release communication details as the competition gets closer

Litterbug

Tel Rosipal

RyanStoneking

Isaac Lopez

Stephen Hamilton

Current Functionality

Avg σ Unit3.943 ± 0.379 Milliseconds

Lidar Read Time, n = 70

Time (min) Voltage Note18 11.4532 11.14 Motors Slow38 10.9 Not Functional

Battery, n = 10

time2697.47418

samples/sec13.4873709

Computing Communication Speed, n = 200

Navigation Tests

Power Tests

Communication Tests

ALES Robot

Future Refinement

Class Average Percision TP FPDistance Average σ Units can 6.08% 41 120

15 15.1 ± 0.297 cm bag 24.37% 192 147 70 69.3 ± 0.232 cm bottle 9.30% 20 39

120 119.7 ± 0.239 cm trash 5.62% 1 2 180 179.9 ± 0.4 cm recycle 5.39% 1 2

aluminum 5.48% 0 3

Range finding, n = 400Object Detec on Average Precision , n=8000Lidar Range Finding, n = 400

Axis Requested Traveled σ Units Requested Traveled σ UnitsX 1 0.9872 ± 0.128 m 90 90.09863 ± 0.00051 °Y 0 0.0038 ± 0.041 m

Turn Deviation, 40 SamplesStraight Line Deviation, 10 Samples

o Drive and maneuver around the vex fieldo Pick up and hold all litter on the fieldo Find and dump litter into trash receptacleo Detected and provide location of trash through

object recognition o Determine location on field using lidar arrayo Receive math problem and send answer over RF

o Improve object recognition training with existing machine learning data sets

o Refine mapping system for a more accurate spatial location awareness

o Refine autonomous state machine o Refine chassis design to decrease drag on floor

and increase diving accuracy