Freshman robot project - Lyle School of Engineering

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Robot Design Project

1
/4

ME1102/CSE1341

R
OBOT
D
ESIGN
P
ROJECT

Spring 2009


The goal of this activity is to build a robot that is capable of
locating
a 2 ft x 2 ft target
and launching a ping pong ball into the target from a distance to be specified on the day
of competition. The robots should operate autonomously, with as little human interaction
as possible.


Each student will be working on a desig
n team composed of students from ME1102 and
CSE1341. Each team will receive a LEGO Mindstorm Robot kit, which must be returned
at the conclusion of the semester in working order. Design teams must construct a LEGO
Mindstorm robot as well as a mechanical
device/machine using the ME machine shop
that is capable of propelling a ping pong ball. An overhead view of the playing field is
shown in Fig. 1 below. The robot will initially be placed to the right of the “Firing Line”
shown in the figure in an arbitr
ary orientation (i.e. it may be facing away from the target).
The robot must determine where the target is located and be capable of launching a ping
pong ball into the target.

The robot may cross the firing line to determine distance but
must return to
the right side of the field to fire the ping
-
pong ball.








Figure 1: Overhead view of robot playing field





8’

8’

8’

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2’

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Robot Design Project

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RULES AND GUIDELINES FOR THE ROBOT COMPETITION



ROBOT OPERATION

Communication with the robot will be done wirelessly using 1) the

Bluetooth capabilities
of the Mindstorm NXT platform and iCommand java library or 2) LeJOS. Both of these
libraries are available from
http://lejos.sourceforge.net/



iCommand allows communication between
the base PC and NXT robot using Bluetooth
wireless protocol. Decision making based on sensor input is done on the PC. Commands
to the motors and sensors are handled through Bluetooth communication. You have full
access the the Standard JAVA API with iCom
mand


LeJOS is an operating system that replaces the standard LEGO OS that comes
preinstalled on the NXT brick. A very small JVM runs on top of LeJOS. You write your
code and compile it on a PC, then download the bytecode to the NXT brick to be directly
e
xecuted on the brick itself. With this mechanism, there is no need for communication
with a base PC during the actual operation of the robot. Programs are downloaded to the
NXT brick using USB connection.


CONSTRAINTS

You are limited to the use of the
LEGO
M
indstorm kit
, which contains the following
major parts:



3 Motors



1 light sensor



The robot must launch a regulation ping
-
pong ball across the firing line
such that the ping pong ball hits the target.



The ping
-
pong ball will be provided by the school for the competition and
will be 40mm in diameter.



The robot is not allowed to leave the course during the competition; the
boundaries will be denoted by PVC pipe with a nominal diameter between
1 and 2 inc
hes. The pipe will be held together by standard PVC pipe
fittings.



The target is a 2’x2’x6” box that is painted blue. There will be at least one
foot of clearance between the target and the course boundaries, as well as
between the target and the firing
line.



Navigation lines will be placed on the floor parallel to the firing line. The
navigation lines will have a uniform spacing, but the spacing will not be
determined until the competition.



The firing line will be marked on the floor in a color that is
distinct from
the navigation lines.



Any interaction with the robot after it starts will incur a score penalty.

Robot Design Project

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1 microphone



2 bump sensors



1 ultrasonic sensor



Various mechanical LEGO parts



Battery and recharger

You are allow allowed to work with the machine shop staff (Mr. Necdet
Yildirimer) to
fabricate any components needed to make your project a success. You may find
necessary raw materials (wood, metal, pvc) in the shop. Any other material purchases
must be approved by Mr. Yildirimer.


SCHEDULE AND DUE DATES

Dates

Lab
activity and assignments

Jan 29

(
Th
)

Introduction to Design Project

Feb.
6

(F)

Individual design memos due at 5pm (with project timelines, goals,
milestones)*

Feb. 13

(F)

Individual design memo due at 5 pm

Feb. 20

(F)

Individual design memo due at 5 pm

Feb
.
2
4
, 2
5

(T, W)

Preliminary group design presentations

Mar.
6

(
F
)

Prelimina
ry group design reports due at 11:00

pm**

Mar. 9
-

13

Spring break

Mar. 20

(F)

Individual design memo due at 5 pm

Mar. 27

(F)

Individual design memo due at 5 pm

Mar
.
3
1
-
Apr
3

(
T
-
F
)

Preliminary testing of designs

Apr. 9

(F)

Individual design memo due at 5 pm

Apr. 1
4
, 1
5

(T,
W
)

Design competition

Apr. 21, 22

(T, W)

Final group design presentations

Apr. 24

(F)

Final group design reports due at
11:00 pm
**


*Weekly technical memos are req
uired of each student. Please see the attached memo
format.

**The group design report format and point scale are in the attached pages.

The reports
must be uploaded to Blackboard before the due date.


EVALUATION

As you can see from the schedule, there are several milestones and evaluation points
throughout the project. It is expected that you will produce professional documents and
present yourself in a professional manner for presentations. Your grade on these
milestones, which will make up your final project grade, will be based entirely on the
following of sound engineering design processes as well as the presentation of findings
and results in reports and presentations. Your grade will not be determined by y
our robot
and associated machines’ performance in the competition, although the “performance”
aspect of the robot is part of the design reports and presentations.


Robot Design Project

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/4



POLICIES

1.

Robot kits must be returned at the conclusion of the semester in operating
condition. Failure to do so will result in a grade of
Incomplete

for all team
members until robot is returned with all pieces
.

2.

Peer review forms must be completed by each student.

Failure to do so will result
in a grade of
Incomplete
.

3.

While the competition does not affect your final grade, your design team is
required to participate in the event.


CONTACT INFORMATION

Professor Willis,
dw
illis@lyle.smu.edu
; (214) 768
-
3125


Professor Fontenot,
mfonten@lyle.smu.edu
;

(214) 768
-
2854


Mr. Necdet Yildirimer (ME shop manager),
nyildiri@lyle.smu.edu
; (214) 76
8
-
3136


Mr.
Brandon Least (ME TA)
,
bleast@smu.edu


Mr. Ali
Tavakoli

(ME TA),
atavakolit@smu.edu


Yu Su

(CSE TA)

ysu@smu.edu