Project B.A.R.B.I.EProject B.A.R.B.I.EBig Avoidance Robot Bringing Items EverywhereBig Avoidance Robot Bringing Items Everywhere

Team TransformersTeam Transformers

Team Leader:Team Leader: Josh DalechekJosh DalechekLead Programmer:Lead Programmer: Ryan SheehanRyan SheehanElectrical Expert:Electrical Expert: Jason KeeneyJason KeeneyParts Specialist:Parts Specialist: Mir AliMir Ali

OverviewOverview

DefinitionDefinition

AnalysisAnalysis

System DesignSystem Design

Project PlanProject Plan

DefinitionDefinition

Problem DescriptionProblem Description

FunctionalityFunctionality

StakeholdersStakeholders

Problem DescriptionProblem Description

Package Transportation Package Transportation SchemeScheme

Command: D A2 B4 C3 D1

Drop A

Drop B

Drop C

Pickup A

Pickup B

Pickup C

Pickup D

Drop D

Robot Claw Status

FunctionalityFunctionality

Simulate Automated WorkerSimulate Automated Worker

Wireless CommunicationWireless Communication

Object RecognitionObject Recognition

Collision Detection/AvoidanceCollision Detection/Avoidance

Path Finding/LocalizationPath Finding/Localization

Object ManipulationObject Manipulation

StakeholdersStakeholders

CS and ECE DepartmentsCS and ECE Departments

School of EngineeringSchool of Engineering

Dr. EngleDr. Engle

Dr. WeinbergDr. Weinberg

Dr. BlytheDr. Blythe

Transformers Team MembersTransformers Team Members

AnalysisAnalysis

Meeting the RequirementsMeeting the Requirements

Parts ListParts List

State DiagramState Diagram

Meeting The RequirementsMeeting The Requirements

Mouse to solve localization.Mouse to solve localization.

CMU cam for object identification and CMU cam for object identification and detection.detection.

Network Developers Kit for Network Developers Kit for communication.communication.

Making the robot tall for size Making the robot tall for size requirement.requirement.

Planning routes.Planning routes.

Product NameProduct Name CompanyCompany Product NumberProduct Number

QuQuantiantityty WebsiteWebsite

Unit Unit price price Subtotal Subtotal

                    

Xport Robot Controller Xport Robot Controller Starter Kit Starter Kit  CharmedLabsCharmedLabs    11   

$269.0$269.00 0 $269.00 $269.00

Game Boy Advance SP - Game Boy Advance SP - PlatinumPlatinum NintendoNintendo    11    $79.95 $79.95 $79.95 $79.95

Omniwheels Omniwheels  CharmedLabsCharmedLabs    44 www.charmedlabs.comwww.charmedlabs.com $9.00 $9.00 $36.00 $36.00

9XCite-DEV™ 900 MHz 9XCite-DEV™ 900 MHz Development KitDevelopment Kit MaxstreamMaxstream

XC09-009-XC09-009-DKDK 11

http://www.maxstream.net/http://www.maxstream.net/products/xcite/devkit/products/xcite/devkit/9xcite.php9xcite.php $199 $199 $199 $199

Devantech SRF04 RangerDevantech SRF04 Ranger(radar)(radar) AcronameAcroname R93-SRF04R93-SRF04 44 www.acroname.comwww.acroname.com $34.50 $34.50 $138.00 $138.00

CMUCam 2 pkg with CMUCam 2 pkg with OV6620OV6620

Seattle Seattle RoboticsRobotics

R228-R228-CMUCAM2-CMUCAM2-OV6620OV6620 11 www.acroname.comwww.acroname.com

$199.0$199.00 0 $199.00 $199.00

XIR SensorXIR Sensor CharmedLabsCharmedLabs    22 www.charmedlabs.comwww.charmedlabs.com $16.00 $16.00 $32.00 $32.00

Plywood (Floor Plywood (Floor construction) construction)

Lowe's home Lowe's home improvementimprovement    11    $27.16 $27.16 $27.16 $27.16

White paintWhite paintLowe's home Lowe's home improvementimprovement    11    $12.00 $12.00 $12.00 $12.00

Hitech HS-322 Heavy Hitech HS-322 Heavy Duty ServoDuty Servo AcronameAcroname    22    $15.00 $15.00 $30.00 $30.00

9V Gearmotor9V Gearmotor AcronameAcroname    22    $9.50 $9.50 $19.00 $19.00

Solder/Desolder materialSolder/Desolder material Radio ShackRadio Shack    11    $20.00 $20.00 $20.00 $20.00

Total Cost $$Total Cost $$                $1,061.11 $1,061.11

State DiagramState Diagram

System DesignSystem Design

ArchitectureArchitecture

SubsystemsSubsystems

Platforms and InterfacesPlatforms and Interfaces

ArchitectureArchitecture

ArchitectureArchitecture

SubsystemsSubsystems

SubsystemsSubsystems– LocalizationLocalization– Motor Control/OperationMotor Control/Operation– Camera Control/OperationCamera Control/Operation– Claw OperationClaw Operation– Sonar OperationSonar Operation– Radio CommunicationRadio Communication

Platforms and InterfacesPlatforms and Interfaces

InterfacesInterfaces– Gameboy and PCGameboy and PC

User interfaceUser interface

Language being usedLanguage being used– C++C++

Project PlanProject Plan

LifecycleLifecycle

Time LineTime Line

Team OrganizationTeam Organization

Risk ManagementRisk Management

Life Cycle ModelLife Cycle ModelWaterfall with SubprojectsWaterfall with Subprojects

Time LineTime Line

Time Line (cont.)Time Line (cont.)

OrganizationOrganizationJosh DalechekJosh Dalechek– Project ManagerProject Manager– Subsystem TesterSubsystem Tester– Code ReviewerCode Reviewer

Ryan SheehanRyan Sheehan– Lead ProgrammerLead Programmer– Web MasterWeb Master– DocumentationDocumentation

Mir AliMir Ali– Hardware/Software Hardware/Software

InterfaceInterface– Parts SpecialistParts Specialist

Jason KeeneyJason Keeney– MotorsMotors– ChassisChassis– Power SupplyPower Supply

Decisions & Conflict ResolutionDecisions & Conflict ResolutionConflicts will be resolved by the two team Conflicts will be resolved by the two team members.members.

1.) Brainstorming Ideas1.) Brainstorming Ideas2.) Evaluating Possibilities2.) Evaluating Possibilities3.) Coming to a consensus3.) Coming to a consensus

Decisions are made by group consensus at formal Decisions are made by group consensus at formal meetings, with a vote to decide.meetings, with a vote to decide.

Next the authority is handed to the project Next the authority is handed to the project manager.manager.

If problem still exists, it will be taken to Upper If problem still exists, it will be taken to Upper ManagementManagement

Risk Assessment TableRisk Assessment TableRisk Assessment Table

Risk Probability of Size of RiskLoss Loss Exposure

(weeks) (weeks)

Learning Curve 60% 2 1.2Inadequate Design 75% 1 .75Parts Don’t Work With Each 25% 4-5 1-1.25OtherPart Failure and Replacement 35% 3-4 1.05-1.4Personnel Conflicts 80% 1 .8Silver Bullet Syndrome 15% 1 .15Bad Scheduling 20% 2 .4Not Having Adequate Tools 55% 1.5 .75

---------------Total: 6.1-6.7 weeks

Risk ControlRisk Control

Learning Curve – Prepare for the next Learning Curve – Prepare for the next step, and don’t let learning get in the step, and don’t let learning get in the way of work.way of work.

Inadequate Design – Hopefully find Inadequate Design – Hopefully find the inadequacies ASAP and work to the inadequacies ASAP and work to fix them.fix them.

Integration of Parts – Research has Integration of Parts – Research has been done to make sure all parts been done to make sure all parts work with each other.work with each other.

Risk ControlRisk ControlPart Failure – Since we documented where Part Failure – Since we documented where the parts came from, the max time of waiting the parts came from, the max time of waiting would be shipping.would be shipping.

Personnel Conflicts – Conflict Resolution Plan.Personnel Conflicts – Conflict Resolution Plan.

Silver Bullet Syndrome – Stay away from the Silver Bullet Syndrome – Stay away from the new stuff.new stuff.

Bad Scheduling – Extra work during off days.Bad Scheduling – Extra work during off days.

Not Having Adequate Tools – Plan on next Not Having Adequate Tools – Plan on next step and prepare tools for that step.step and prepare tools for that step.

Test PlanTest Plan

Testing Robot on CourseTesting Robot on Course

Big Bang Testing Big Bang Testing – Test Each PartTest Each Part– Connect Parts Together for SubsystemConnect Parts Together for Subsystem– Subsystems to Final ProductSubsystems to Final Product

Documentation PlanDocumentation Plan

Documentation Coincides with Documentation Coincides with TestingTesting

Ideas are Encouraged to be Ideas are Encouraged to be DocumentedDocumented

Official Team MeetingsOfficial Team Meetings

Preparations for PresentationsPreparations for Presentations

MilestonesMilestones

Types of DocumentationTypes of DocumentationRADRADLogsLogsRisksRisksScheduleScheduleProject PlanProject PlanImplementation of PartsImplementation of PartsTeam MeetingsTeam MeetingsUpdatesUpdatesPresentationsPresentationsSystem ArchitectureSystem Architecture

Present / FuturePresent / FutureCurrent StatusCurrent Status– Robot DesignRobot Design– Received MaterialsReceived Materials– CMU cam readyCMU cam ready– Xport readyXport ready– Measuring Mouse MovementMeasuring Mouse MovementFuture PlansFuture Plans– Finish Building CourseFinish Building Course– Reading Mouse SignalsReading Mouse Signals– Motor ControlMotor Control– Extra SensorsExtra Sensors– Finishing the RobotFinishing the Robot

Questions?Questions?