University of Florida
Department of Electrical and
Computer Engineering
EEL5666C
Intelligent Machines Design
Laboratory
Written Report 1 (05/26/05)
Bi-Mode
TAs: William Dubel
Steven Pickles
Instructor: A. Arroyo
E. Schwartz
Description Page
Abstract
Executive Summary
Introduction
Integrated System
Mobile Platform
Actuation
Sensors
Behaviors
Experimental Layout and Results
Conclusion
Documentation
Appendices
A controllable behavior robot named Bi-Mode. The robot will have two modes of operation: 1) run away (emulating a prey) and 2) follow (emulating a prey). This will be accomplished through the use of 4 different sensors working together to have a very specific behavior that will be controllable and interactive. The core of robot will be the ATmega128 micro-controller embedded in the popular Mavric-IIB board.
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Think about your pet playing by itself because you are too busy. With Bi-Mode, you can solve this problem. Since all playful pets like to chase balls and object, Bi-Mode will be the ideal toy to chase around.
Bi-Mode’s brain is the Atmega128 micro-controller on a Mavric-IIB development board. Features of the board are 128K-program flash, 4K static RAM, 4K EEPROM, dual level shifted UARTs, RS485, I2C, up to 53 I/O pins, 16MHz clock (adjustable), and many more.
The robot will be equipped with an LCD display for feedback information. There will also be about 5 IR sensors (by Sharp: GP2D12) for object detection, 2 photoreflectors for line following on the ground and for “end of the world” sensing, 4 bump switches for object detection
The platform will be specifically designed for the peripherals that will be used in the robot. The platform will be designed in AutoCAD and cut out in the T-Tech machine. The design will be circular in shape, about 1 foot in diameter and 1/8th inch in thickness.
The robot will operate on a pair of continuous servos. The features: 42 oz in of torque, 0.22sec/60 degree of transit time, operation voltage at about 5 volts
IR – Sharp GP2D12 – for object detection
Will be integrated to the system using the analog ports
Photoreflector – for line following and “end of the world” behavior
Will be integrated to the system using the analog ports
Pyroelectric sensor – to detect a heat signature
Will be integrated to the system using the analog ports
Bump sensors - for object collision detection
Will be integrated to the system using the digital ports
Mode 1:
Object Avoidance (and run away from chasing objects)
Mode 2
Line following
Heat signature tracking
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