Robotic Artificial Intelligence Toy (R.A.T.)

CPE 4521 Final Design Presentation

Presented byShane R. Bright, Erik R. Brown,

Wing-Seng Kuan, Micheal T. Singleton

April 24, 2001

Introduction• Introduction of Team Theseus

• Background

• Project Objectives

• Timeline

• Design Specifications

• Implementation/Testing of Design

• Conclusion & Demonstration

Introduction of Team Theseus

• Erik Brown—AI Team Software Development,Web Development,Preliminary Circuitry Implementation

• Shane Bright—AI Team Hardware Consultant, Web Development,Circuitry Design

Introduction to Team Theseus

• Micheal T. Singleton—Robotics Team Chassis Design,Final Circuitry Implementation,Final Assembly

• Wing-Seng Kuan—

Robotics Team Circuitry Consultant

Background

Project ObjectivesThe main objective of the R.A.T. is to entertain a pet for an extended period of time without causing injury to the pet, humans, or the surfaces and objects in the area where the toy might be used.

Secondary Objectives—

Healthy Exercise for Pet

Durability

Customer Satisfaction

Timeline1/10/2001 – First meeting, established boundaries, outline

for the semester

1/22/2001 – Adopted OOPic as microcontroller forproject, first chassis design failure

2/14/2001 – MiniZ Race Car chassis adopted as RAT body

2/27/2001 – Critical Design Review

3/24/2001 – OOPic and sonar interfaced, sonar program implemented, chassis assembled

Timeline

4/21/2001 – OOPic program GUIDE v1.1 implemented, correcting flaws in guidance system

4/22/2001 – Motor Controller for chassis completed, initial tests show voltage to be too low to power

motors4/23/2001 – Chassis modifications are made to mount

sonar and OOPic devices. Motor Controller prototyping and Voltage Doubler failed inimplementation.

4/07/2001 – OOPic interfaced with servo, GUIDE v1.0 was coded implementing servo, motors, and sonar.

Design SpecificationsPhysical Specifications

• Dimension :5.5” x 2.5” x 2.75”

• Weight

9V battery : 1.7 Oz

Motor Controller : 0.6 Oz

Chassis : 6.8 Oz

Total : 9.1 OZ

• Materials : plastic, rubber

• Power Requirement

Body : 6V (4 AAA batteries)

OOPIC : 9V (9 V battery)

Design Specifications

Performance Specification• Speed : 10 ft/s • Sight : reacts to objects within three feet of sensor• Battery Life : standard life of alkaline batteries• Features : obstacle avoidance and memory in a small,

fast package 

Economic Specification• Cost of prototype : $300.00• Cost (production) : $29.99 (min), $49.99 (max)• Operation costs : price of batteries

Software Specifications

• To avoid obstacles at a distance within 3 feet of the R.A.T.

• To turn the servo the desired direction after seeing an obstacle and needing to turn

• To move irregularly while a safe distance from any obstacles

•To use the stop-and-go procedure while at a safe distance from any obstacles for some time

Software Specifications

• To control the forward and backward motion of the motors via the two signal lines connected to the motor controller

• To design the controlling interfaces to all hardware required to meet the preceding specifications

Design Requirements

The toy must…

• Avoid becoming trapped by obstacles or the pet.

• Move in a way that interests the pet.

• Be durable enough to endure the contact that might occur with obstacles and/or the pet.

• Avoid displeasing sounds and visual features.

• Meet minimum requirements for battery life, safety, and functional lifetime.

Design Alternatives(Motors)

Types: DC motors, Servo motors, other

Motor Considerations:

• Torque

• Speed

• Life

• Power requirements, physical size, and price

Motor Control

Forward Reverse

H-Bridge Schematic

Voltage Doubler Schematic

Design Alternatives(Controller)Types: PICs, Basic Stamps, Motorola chips, Intel chips

Considerations:

• Programming language(s)

• Downloading/Debugging methods

• Number of I/O Lines

• Memory size

• Power requirements, physical size, price

Design Alternatives(Sensor)Types: Infrared Range Finders, Bumper Wire Sensors, Temperature Sensors, and Sonar

Considerations:

• Beam pattern

• Distance range

• Interfacing method

• Accuracy

• Physical size, power consumption, and price

Sonar Implementation/Interfacing

Implementation of DesignAI Team Implementation Plan

Step 1: Connect OOPic to sonardone/ok

Step 3: Connect OOPic to Servodone/ok

Step 2: Write code to operate sonardone/ok

Step 4: Write code to operate servodone/ok

Step 5: Integrate code samples to control movement done

Implementation of DesignRobotics Team Implementation Plan

Step 2: Assemble chassisdone/ok

Step 3: Mount front steering controldone/ok

Step 4: Mount Servodone/ok

Step 5: Mount Motor Controllerincomplete

Step 6: Mount OOPicdone/ok

Step 1: Build motor controller (H-bridge)done

Testing of DesignAI Team Test Plan

Test 1: Test sensitivity of sonardone/ok

Test 2: Test left and right turnsdone/ok

Test 3: Test forward and reverse control done/ok

Test 4: Run real simulation in a test areaincomplete

Conclusion & Demonstration

Demonstration Legend

SONAR REVERSE LED FORWARD LED

OOPic ControllerSERVO

Questions?