WANDERING AMBASSADOR P11215 2010-1 2010-2 Team Members: Chris Hoerbelt (ME) Greg Mucks (ME) Anthony Poli (ME) Justin Akerman (CE) Jon Notaro (EE) Hersh Anand (EE) Eric Tripp (EE) Faculty Guide: George Slack Background: Customer conceptualized a robot which demonstrates RIT’s commitment to sustainable energy, innovation, and creativity. The robot would engage in a symbiotic relationship with the plant passenger and by meeting the needs of the plant (sunlight, water), the plant’s needs would positively influence the robot’s actions. Mission: Integrate existing hardware with newly designed subsystems to deliver functional prototype ready for software development Key Objectives: • Debug I2C communication interface • Design & integrate sensor circuitry • Implement redundant safety features • Design easy-to-use transport mode • Optimize sensor layout • Design vibration mitigation features • Fabricate and assemble full prototype Primary Customer: Stan Rickel Last line of defense after all other bump detection methods fail. Circuit detects motor current draw spike and cuts power to motors and sends signal that current has spiked. Current Limiting Circuit Bumpers were loaded with maximum calculated drive load and achieved a factory of safety of 2.0. FEA Analysis Handle available for transporting the robot. Collapsible when robot is in use. Transport Handle Chain Guard Plan t Emergency Stop Button Bump Sensor Water Reservo ir Transmission gears coupled to allow motor drive. Transmission Engaged Transmission gears un-coupled to allow pushing of robot Transmission Disengaged Transmissio n Drive Wheel Support Caster Motor Upgraded Platform Prototype MSP430 Microcontrol ler Beagleboard Computer Beagleboard Computer Motor Control Microcontroll er Motors Shaft Encoder s Plant Care Microcontrolle r Water Pump Moistur e Photo diode Temperatur e Navigation Microcontrolle r Compass Acceleromet er High Level Control / Decision Making Input / command interpretation Input / Output devices Input / Output Ports Power Conversion Upgraded Drivetrain Main Logic Board Control Hierarch y Onboard Sensors Inherited Platform Upgraded Platform Model