JULLIENOR

TITAS DAS

EEL 5666 – IMDL FALL 2014

12/2/2014

AGENDA

• Mission

• Robot Overview

• Mobile platform

• Hardware

• Software

• Behaviors

• Timeline

MISSION

• Jullienor is meant to save your time in the kitchen when it comes to cutting vegetables or fruits for various dishes.

• It will also be able to prevent hazards from occurring in the kitchen as people don’t have to deal with knives anymore.

ROBOT OVERVIEW

• It has a two wheel drive with a castor wheel at the back. A castor in the front for balancing the robot.

• A cutting system which lowers itself over a vegetable and cuts it.

• Uses the nexus 5’s inbuilt 8 megapixel camera as its source of vision.

• Exhibits obstacle avoidance and is a table top robot.

MOBILE PLATFORM

HARDWARE

Arduino Mega 2560

Motor Driver Shield

(Arduino Motor Shield or Dual MC

33926)

Ni-Mh 9.6V(LiPo 11.1V)

Nexus 5

Wheel 1 Wheel 2

IR

Sonar

Motor Driver Single carrier

MC 33926

Cutting Mechanism

Audio-Serial Interface

Board

INTEGRATED CIRCUIT

• The audio-serial interface board was soldered based on the schematic shown below.

SOFTWARE

Arduino IDE

Eclipse Juno Android SDK & ADK

OpenCV

BEHAVIORS

• It will have obstacle avoidance based on sonar input. The obstacle has to be outside the pink board used for cutting vegetables.

• Object recognition based on background subtraction and color detection. Where the vegetables are kept on a pink cutting board. X and Y co-ordinates sent to Arduino.

• Will be able to cut the vegetables using it’s unique cutting system. Motor’s encoders are used to make sure it doesn’t cut the board.

• Will also have an “end of the world” sensor system to prevent the robot from falling off the table using IR sensors.

LESSONS LEARNT

• Android programming

• Opencv integration

• Solidworks design

QUESTIONS