1. THE NORDIK
TEAM – 04 : FINAL PRESENTATION, WINTER – 2015
ECSE – 211 : DESIGN PRINCIPLES & METHODS
Team Members Mechanical Design Software
Objectives
Team goal was to use only one NXT brick:
• 3 motor ports [3/3 used]
• 4 sensor ports [4/4 used]
Sensors
• 1 color sensor used for correction
• 3 ultrasonic sensors used for localization and obstacle avoidance (one facing
forward and two at 45º)
Chassis
• Solid chassis to support brick and launcher
• Fits within a single tile
Launcher
• Dual use of motor and elastics for shooting
• Ping-pong balls are fired on 45º inclined
slope
• Reloading mechanism works with the
same motor used for shooting
• Ping-pong balls are held in a transparent
plastic tube, placed above the slope and
attached to launcher with tape
UML Diagram
Localization
Algorithm composed of two phases:
• Falling edge detection allows the robot to determine the north. Then, the
robot determines its x and y position using US sensors
• The robot then uses its light sensor in order to correct it’s orientation, it’s y
position and finally it’s x position.
Navigation & Obstacle Avoidance
3 Ultrasonic Sensors are used to detect obstacles in three different directions.
Two main algorithms:
• The first, using a known path, constantly travels short distances and
navigates in a path around obstacles (given to us beforehand). As it goes
along it corrects the odometer position and bearing in order to confirm its
location and not run into any walls.
• The second algorithm travels diagonal and constantly chooses the best
travel location by detecting its distance to obstacles and avoiding them, yet
constantly minimizing its distance from the target (called a “greedy”
algorithm).
Odometry Correction
Odometry correction uses 1 light sensor to correct the X and Y coordinates as it
crosses the grid lines. It also corrects Theta periodically using the light sensor
by rotating on the grid lines.
The objective of the project is to construct an autonomous robot capable of
identifying its position and navigating to specific points when placed within a
12’ x 12’ enclosure containing several obstacles. The task of the robot will be
to localize on its position, travel to a
specified area to shoot one or more
ping-pong balls at two targets located
outside the 12’ x 12’ enclosure. The
goal is to perform the task in the
shortest time possible. There will be
time limits on some phases of the
task.
TIME CONSTRAINT
• 1 minute to load data
• 1 minute to localize
• 6 minutes to complete one run
MAP
Zones 2, 3, 4 & 7 – Known obstacles
Zones 5, 6 & 8 – Unknown obstacles
Project Manager
Md. Mushfiqur Rahman
Documentation
Riccardo Restagno
Software Lead
Tim Flichy
Mechanical Lead
Matthieu Paturet
Software & Testing
Jonathan Telfort
Hardware & Testing
Nicolas Morin
Budget
Time Budget
Team Members Week 1 Week 2 Week 3 Week 4 Week 5 Week 6 Week 7 Total (Hr)
M. Rahman 9 7 5 4 15 8 12 60
R. Restagno 5 7 5 5 13 10 14 59
T. Flichy 5 6 8 6 16 12 10 63
J. Telfort 3 7 9 7 14 9 14 63
M.Paturet 6 7 6 9 13 9 12 62
N. Morin 2 9 5 6 10 12 16 60
Weekly Totals 30 43 38 37 81 60 78 367
Items Cost (CAD)
Ping Pong Balls 2.5
Measuring Tape 3
Batteries 16
Scotch Tape 2
Total 23.5
Hardware
28%
Software
34%
Testing
22%
Documentation
16%
Time Budget
Hardware
Software
Testing
Documentation
Financial Budget
Total Budget Allotted : 378 hours
Total Hours Spent: 367 hours
Team Average: 61.17 hours/week