David Lorrain Christian Washington John West Chris Le Meggie Alleman November 27, 2012 Team 10Advisor: Dr. Jerry Trahan.

David Lorrain

Christian Washington

John West

Chris Le

Meggie Alleman

November 27, 2012

Team 10Advisor: Dr. Jerry Trahan

Functional Decomposition

Chosen Concept

BeagleBoard

vs

Arduino

Android Phone Application

Why Android? Camera or Image Selection Edge Detection Algorithm Bluetooth for image transfer

Image Processing

Degrade Image Quality Conversion from color to

grayscale Canny Edge Detection

Algorithm Noise Reduction

Original Image

Canny Edge Detected Image

BeagleBoard

Edge Detected Image from Bluetooth

Path-FindingGroupingPrecision Detection

Motor Controls

Motor Controller 2 Motor Controllers

WheelsChalk Holder

Homemade ControllerSmallerSimplerFeedback

Robot

Frame Chalk holder

Chalk Holder

Robot Top View

BeagleBoard

Wheel

Batteries

Wheels

Turning axle

Tire connected to chain Chain connected to gear Gear connected to motor

Power 14 Energizer 1.2V rechargeable batteries

4 for the BeagleBoard10 Motors and Motor Controller

2300mAh capacity needed for 15 min runtime

Budget Estimate

Component Quantity Cost

BeagleBoard 1 $0.00Android Phone 1 $0.00Orientation Sensor (Gyroscope) 1 $10.00Chalk Holder 1 $10.50Motors* 3 $60.00Batteries 16 $42.08Battery Holders 4 $7.80Wheel Mechanism* 3 $90.00Motor Controller 1 $17.00Robot Frame* 1 $100.00

Total - $337.38

ScheduleID Task Name Length Start Finish Participants1 Order Parts for Wireless Transmission 5 days 01/14/2013 01/18/2013 All members

2 Order Parts for Precision Detection 5 days 01/14/2013 01/18/2013 All members

3 Test Image Processing Algorithms 10 days 01/28/2013 02/08/2013 JW, CL

4 Milestone 1 Report 5 days 01/28/2013 02/08/2013 All members

5 Milestone 1 Presentation 5 days 02/04/2013 02/15/2013 All members

6 Order Parts for Frame 5 days 02/11/2013 02/15/2013 DL, CW

7 Order Parts for Wheels 5 days 02/11/2013 02/15/2013 DL, CW

8 Test Wireless Transmission 5 days 02/11/2013 02/15/2013 JW, CL, MA

9 Initial Test of Precision Detection 10 days 02/18/2013 03/01/2013 JW

10 Milestone 2 Report 5 days 02/18/2013 02/22/2013 All members

11 Milestone 2 Presentation 5 days 02/25/2013 03/01/2013 All members

12 Assemble Frame and Wheels 10 days 03/04/2013 03/15/2013 DL, CW

13 Order Parts for Power 5 days 03/04/2013 03/08/2013 All members

14 Test Parts for Power 5 days 03/11/2013 03/15/2013 DL, CW

15 Interface / Test Motor Controller 5 days 03/18/2013 03/22/2013 All members

16 Test Path Finding 5 days 03/25/2013 03/29/2013 JW, CL

17 Write and Test Phone Application 5 days 03/25/2013 03/29/2013 JW, CL, MA

18 Complete Testing and Troubleshooting 15 days 04/01/2013 04/15/2013 All members

19 Final Report 5 days 04/15/2013 04/19/2013 All members

20 Final Presentation 5 days 04/22/2013 04/26/2013 All members

Gantt Chart

Questions

Citations Beagleboard

https://dlnmh9ip6v2uc.cloudfront.net/images/products/9/4/4/4/09444-02.jpg

Energizer Battery http://www.energizer.com/SiteCollectionImages/

learning_center/battery_care/right_rail_splash-additional_dos_and_donts.png

http://data.energizer.com/PDFs/nh15-2300.pdf

Wheel Mechanism http://wiki.team1640.com/index.php?

title=DEWBOT_VI_Drive_Train