37367988 intelligent robot[1]

8/8/2019 37367988 Intelligent Robot[1]

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PresentationOn

Intelligent Robot

ByRohan Singh(0709633097)

Sakshi Goel (0709633098)SonyJaiswal(0709633109)Tejvir Chhabra(0709633115)


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Contentsn Introduction

n History

n Block Diagram of Intelligent Robotn Mechanical Aspects

n Motors

n

Sensorsn Microcontroller

n References

n

n


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What is Intelligent Robot ?n Completely autonomous robot

n Search/Navigate the given maze

n

n

Takes shortest time path fromstart to centre


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What all is needed tomake a Intelligent Robot ?


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Intelligent Robot

Block DiagramLeftMotor Motor

Driver

Right

Motor

MotorDriver

Microcontroll

er

Op-

ampsLED

Drivers

Comp-arator

s

Analog

SensorModule

TopDown

SensorModule


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MechanicalAspects

Stability - Static - Dynamic Performance - Speed - Acceleration/Retardation - Turning - Accuracy


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Relations

n Material + Size => Weight

n Weight + Shape => Inertia

n Weight + Shape => Centre of Massn Wheel Size => Speed , Acceleration

n Wheel separation + CoM

+ Inertia => Stability


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MOTORS


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Stepper Motors

n

nTheory of Operation

n Different driving techniques

n Step calculations - For moving ahead - For taking turns


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DC motor Vs StepperMotor

n DC Motor

1.Usually much

lighter thanstepper motor.

2.Higher efficiency.

3.Precise speed

control is noteasy andrequires closedloop system .

-

n Stepper Motor

1.Heavier than DC

motors.

2.Lower efficiency.

3.Speed control isstraightforwardand precise.


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SENSORS


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Sensors

n What is a sensor ? - A device that measures or

detects a physical condition. - An electronic sensor

converts this measurements into an

equivalent analog or digital electrical


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Sensorsin Intelligent Robot

n Why does a Intelligent Robotrequire sensors ?

- Detect presence/absence ofwalls

- To be able to run straight - To be able to position and

orient itself in the maze


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Distance Measuring

n How to measure distance ?

n Measuring Reflected

Intensityn Measuring Reflection

Timen Measuring Reflection

Position


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Sensor ApproachesFor Intelligent Robot

n

Top Down Sensing Approachn Side Looking Sensing Approach


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Side LookingSensing Approach

n What type of sensors can beused ? -Analog Type

n Results in a very compact mousedesign

n Angling the sensors


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Navigating the Maze

n Forward Error - When the mouse stops at wrong

position in a celln Offset Error - When the mouse is more closer to one

wall

than the othern Heading Error - When the mouse is pointing towards

the wall rather than straight


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MICROCONTROLLER


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Microcontrollers

n What is a microcontroller ? - Definition: A computer-on-

chip - Microprocessor + added

stuff on a single chip - Use to control general

purpose electronic devices


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Inside aMicrocontroller

n CPU

n Program Memory (EEPROM/Flash)

n Data Memory (RAM)n Input/Output ports

n Interrupts

n

Timersn UART

n ADC

n SPI


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ATmega 16Microcontroller

n 8 bit AVR Family of microcontrollersn RISC architecturen

16k Flash memory (Program)n 1k RAM (Data)n Four 8-bit i/o portsn 8 channel ADCn 3 Timers (Two 8-bit and one 16-bit)n USARTn SPIn


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Thank You

37367988 intelligent robot[1]

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