The Batmobile and Centrifuge

November 11, 2011

(BC)² ECE FINAL REPORT

MEET (BC)² (GROUP #3)

Members (from left to right): Rachel Bevill, Brae Bower, Samantha Cherbonneau, Professor Ahmadi, Anthony Contreras

MORE ABOUT (BC)²Samantha

CherbonneauBiomedical Engineering

Brunswick, ME

Rachel Bevill

Biomedical EngineeringMerrimack,

NH

Brae BowerBiomedical Engineering

Baltimore, MD

Anthony Contreras

Biomedical EngineeringChaparral,

NM

• Design a robot that will move along a specific path, guided by rear wheels and front sensors

• Implement a program that codes for the forward movement of the robot along a black curved line, the execution of a U-turn at the end of the line, following the path back to the start

PROJECT OBJECTIVE

2m 2m

2m 2m

2m 2m

2m 2m

Start

Finish

THE BATMOBILE

http://www.entertainmentearth.com/hitlist.asp?theme=batman

• ECE class webpage (design and sample coding)• Marjan (GTA) and Professor Ahmadi• Parts

-2 front wheel rims without rubber- 4 back wheels with rubber- 1 front axel, 1 back axel- handyboard- 2 analog light sensors- 2 motors- Lego body

RESOURCES FOR THE BATMOBILE DESIGN

• Original• Avoid extra weight• Minimal LEGOs used• Small holes in the body of the robot

CHOOSING THE BATMOBILE DESIGN

• Rear-wheel driven• Handyboard directly over rear axel• Body built around the handyboard• Robot not perfectly parallel to the ground

CHOOSING THE BATMOBILE DESIGN CONTINUED

void main(){ int sensor3 = analog(3); int sensor4 = analog(4); int I=0; while (start_button()==0); while (I<2) //repeat until I is less

than two { sensor3 = analog(3); sensor4 = analog(4); printf("\n L: %d, R: %d", sensor3, sensor4);if (sensor3<200 && sensor4<200) //both sensors are on

white { printf ("\n F"); motor(1,20); motor(3,20);} else if (sensor3<200 && sensor4>200) //if sensor 3 on white

and sensor 4 on black then turn right {printf ("\n right"); ao();

motor (1,60); motor(3,-30);} else if (sensor3>200 && sensor4<200) //if sensor 4 on white

and sensor 3 on black then turn left {printf ("\n left"); ao(); motor (1,-30); motor (3,60);} else if (sensor3>200 && sensor4>200) //if both on black do a

u-turn {ao(); motor(1,60); motor(3,-60); sleep(.68); I++;} //add to I count once completed } ao(); //once count has reached 2 turn all

motors off}

PROGRAM CODE FOR THE BATMOBILE

https://mail-attachment.googleusercontent.com/attachment?ui=2&ik=b8b8cc5616&view=att&th=13393290b8f78130&attid=0.1&disp=safe&zw&saduie=AG9B_P9LYep2Zv6WwI0V2KiBZcdD&sadet=1321023940285&sads=clssNCwYI-3qbwj6sytgJTrmTn8

THE BATMOBILE IN ACTION

MEMBER RESPONSIBILITIES

http://www.botball.org/ichttp://www.granthamilton.biz/construction_programmes.htm

Brae B., Samantha C. Rachael B., Samantha C., Anthony C.

• Build the robot- General body- Axels and wheels (adjustments)

• Program Coding (adjustments)

ORDER OF THE BATMOBILE’S DEVELOPMENT

• Handyboard (ports, sensors, motors)• Program Coding• Miscommunication• Teamwork

CHALLENGES WITH THE BATMOBILE

• Batmobile’s design• Batmobile’s speed

SUCCESSES WITH THE BATMOBILE

BIOMEDICAL EXPERIMENT: CENTRIFUGE

• Machine• Uses centrifugal force (forces moving outward

from a central origin) in accelerated form • Separate substances (densities, removing

moisture, gravitational effects)• Uses

-Remove elements from blood for cell-free plasma or serum analysis-Separating liquid components, protein-bound or antibody bound molecules

BACKGROUND ON CENTRIFUGE

• Components- rotor-drive shaft and motor-centrifuge chamber-power switch-time, speed control, brake-protective shield

BACKGROUND ON CENTRIFUGE CONTINUED

RELATIVE CENTRIFUGAL FORCE (RCF)=(1.118 x 10^-5) x (r) x (n²)

• Based upon previous centrifuge design• Several gears• Simple swing design• Stability

EXPERIMENTAL SETUP

void main(){ int speed = 0; float separation_time=1.0; float ramp_time=0.5; while (start_button()== 0) {printf("\nPress start to begin");} while (start_button() == 1) { while(1) {sleep(3.0); printf("\n mixed value=%d", analog(6)); {motor(3,40);//ramping up sleep(2.0); motor(3,60); sleep(2.0); motor(3,80); //ramped up sleep(2.0); motor(3,100); //full speed sleep(12.0); motor(3,80); //ramping down

sleep(2.0); motor(3,60); sleep(2.0); motor(3,40); sleep(2.0); motor(3,0); sleep(9.0);} //ramped down

ao();while (1)

{sleep(3.0);printf(“\n water value=%d”, analog (6));}while (1){sleep(3.0);printf(“\n oil value=%d, analog(6));} } }}

CENTRIFUGE PROGRAM CODING

CENTRIFUGE PROGRAM CODING

Trial # Sensor Reading (before separation)

Sensor Reading (after separation)

Ramp UP Time(s)

Time to Separate(s)

Ramp DOWN Time(s)OIL WATER

1 162 170 209 6 12 10

2 152 190 143 6 12 11

3 145 183 136 6 12 11

4 163 157 131 6 12 9

5 155 175 120 6 12 10

Base Reading Values: Water-127 ; Oil-180; Mix-157

• Compose a code program through Interactive C• Trial and error• Check program coding• Communication• Teamwork Improvement• Speed Adjustment• More accurate timing of the U-turn

CONCLUSIONS

• Marjan Nabili• Professor Ahmadi

ACKNOWLEDGEMENTS