Introduction

This project requires each group to study and/or evaluate the electronic circuits required to condition sensor signals and provide control action for a simple electromechanical system. The targeted system this semester is a classic two-wheeled vehicle found in many mobile robot applications. Each wheel is independently actuated by a motor to guide the vehicle's two-dimensional motion along a desired path. The goal is to study how simple line-following or wall-following actions can be realized using analog/digital circuits without a microcontroller.

All ten groups are working with a small-scale vehicle platform provided in off-the-shelf 'robotics' kits. Most groups are focusing on building a sensing and control configuration that will replace the mechanical whisker/switch found on a Tamiya Wall-Hugging mouse. Others are working with basic robotics kits that provide a solution either for light-following or obstacle avoidance.

It is emphasized that a principal goal of this project is to gain experience with gaining hands-on experience and making a simple mechatronics system work. Baseline requirements for the project are provided, however each group may expand on the minimum requirements of the project if time and expertise is available.

Assessment of Each Group and Group Members

Each group member will be given a grade (making up 40% of the total semester course grade) distributed as follows:

1. Project documentation, 60%. This documentation should describe the work done to complete the project. More on the required elements will be provided below.
2. Demonstration, 15%. A time will be arranged for all groups to demonstrate their working system. During this time, the instructor may ask questions of each group member and/or evaluate how the group works together. Schedule a time.
3. Group member self-evaluations, 15%. Each group member must submit an evaluation sheet grading the members of their group.
4. Individual analysis example, 10%. Each group member must find a certain part of the system and formulate a conventional 'homework' type problem that highlights standard methods of analysis and/or use of computer-aided analysis tools (e.g., Multisim).

Due dates: Items 1, 3 and 4 are officially due on last day of class. Item 2 will be arranged.

Project Documentation (v. 1)

Specific format/sections will be left up to each group. The following are required or suggested elements/content. A '*' indicates optional.

• System level or block diagram that describes the elements/components and how they interact to perform the desired function(s). For example, here is an example from an off-the-shelf kit: hyper line tracer block. Would expect a little more detail than this example
• Detailed circuit diagram using standard circuit schematic elements, component values, etc. (you might use Multisim to draw this diagram). Here is an example from the documentation for an off-the-shelf kit: avoider.
• Description of key component subsystems and how they were designed/configured and tested
• Description of system level testing, difficulties encountered and how they were resolved
• A list of the parts
• Appendix with example calculations (these may consist of the problems designed by each group member)

Demonstration

It will be expected that each group will develop a working system that can be tested and that all group members will participate in preparing for and providing a demonstration of their system. Each member should be prepared to answer any questions that may be asked by the instructor and/or TA(s).

The test parameters are:

1. For line following: a) vehicle must follow a straight line for at least one meter, and b) vehicle must follow a figure-eight path. Both white-line/dark-surface and black-line/white-surface will be provided. Expect the line to be from about 0.4 to 0.5 inches wide (about the width of masking tape and/or electrical tape).
2. For wall following: a) straight wall, and b) wavy wall
3. For light-followers: (criteria to be established with those teams individually)
4. For obstacle avoiders: (criteria to be established with those teams individually)

Group Member Self-Evaluations

Fill out the group member assessment and submit to ETC 5.134 (either to Cindy or slip under door of ETC 5.134B) by Friday, May 15, 12 pm.

Individual Analysis Examples

(more details to be provided)