Trash2D2 Oral Report 2 IMDL David Mercado. Summary of Function Main Objective: Collect Garbage Motor-Driven Abilities: ▫Roam & Avoid Obstacles ▫Open Lid.

Trash2D2

Oral Report 2IMDL

David Mercado

Summary of Function

•Main Objective: Collect Garbage

•Motor-Driven Abilities:▫Roam & Avoid Obstacles▫Open Lid At Hand

Detection•Special Sensor System:

▫Detect Presence of High Frequency Sounds

▫Go to Origin of Sound

Special Sensor: Microphone •Electret Microphone

▫2 Microphones (Left/Right)

▫3.3 V Input▫Analog Output

•Breakout Board▫Attaches to Electret

Microphone▫Contains Op-Amp,

Resistors, and Capacitors

Special Sensor: Analog Processing•Bandpass Filter

▫Filtered to only allow ~ 1 kHz to ~ 8 kHz range

•Op-Amp▫Resistor combination for 100x amplification

Special Sensor: Digital Processing•Necessary for further

frequency filtering•Filter Algorithm

▫Array & For Loop for Sample Collection

▫Peak-to-Peak calculations to determine frequency

▫Peak magnitude calculations to determine volume & signal strength

Special Sensor: Location Orientation•Orientation of Sound

▫Rotate towards stronger signal – right vs. left microphone

▫Strength based on volume algorithms

▫Dish receptor oriented outwards to better capture directional sound

Special Sensor: Location Arrival•Continuous Data

Collection▫Rotates until aligned▫Avoids obstacles

during process•High Frequency

Sound Location▫Located at door▫Calls garbage can

during trash collection day