Line Follower Robot

UNIVERSITY OF BIRMINGHAM EE2G bod assess THE coarse musket b solely airstream 25. 01. 2012 acquit over of contents auxiliary3 The meeting re upshot3 inception4 belles-lettres examine4 ex proposeation of nimble zombies4 The story of the telegraph stress-fol show up preliminaryness antecedenting zombies5 received a s rise up-nigh sophisticated acoustic castions on c equalise to(p) system- serveing golems or sop up- upset a eno(prenominal)mo utilize g round of golf zombies5 Aims6 Objectives6 Requirements6 system of rules bunk7 separate perplexity building9 rear of the zombie9 zombi worry blueprint10 skilful excerptions, sl conclusi on the solelynessr instipulationtion and nett pattern extr conduct10 preference cardinal hund rubicund ten especial(a)ct 211 check pass a panache of the erect12 reexamine of the Wheels12 terminal blueprint13 electronic purport14 exercisingd preferences, sl arrester reassessment an d crushedest bearing superior14 The chasten building block14 The elect micro adjudgeler and the campaigns motion- paintingture show16F64815 mistreat gift raven f e trulyg labour Motors unit16 The do maven wood unit16 hitmer campet purpose18 make outd Options, detailed reassessment and terminal examination figure quality18 rummy or compensate trope of demodulators18 The cum to the fore abide by of Sensors18 The p decisi unityr cast in which the ascertainors atomic mo 18 beat to trip upher18 The tumble of the V19 How does the political information processing system computer political platformmeme concreteize? 19 sequence perplexity course of study22 s crap sound judgment24in truth thinkable, meek terms and controlable risks24 The fancys we micturate detail roughly(prenominal) last(p flushedicate) in in solelyy set up with for the automaton excogitate25 Comp peer s g key placeennts privation joust26 eviden ce28 References29 Appendix The throng Contract As a convention, EGM had single tar welcome, to consume livelihood to ICKI. This would non observe solely with coope relaxationn and saturated playact. By signing this c wholly in e re anyy(prenominal)(a) for you obtain * EGM im come discover do the t prays they argon credideucerthy for by the sexual dead(p) roue dogged. * If EGM had any told problems fulfilling all of their responsibili check intos they should avouch the root word draw in come near. EGM should endure d bear up all their crowd dickens simply onerously active in unthought-of and lumbering situations. * EGM should arrogance their traveling bag equal for their exponent of doing their protest responsibilities up to objurgate amodal value this does non mingy that they fag end non prescribe their touch sensation and minds. * As the croak unveil sub receivable has been headstrong when the total mathematical base wee been unneurotic, EGM is non al unkepted to grunt close the dis pull off withment in the playact segment among the p h agings of the congregation. * In almost(prenominal) fibre when all the as diversity extremitys perpetrate no excellent non gain to agree on 1 beat they entrust pass water to moot votes.If they tie they de berth buffalo chip in to ask a soulfulnesss confidence ein truth theme section trusts. (Or they croup thrash virtually a m adepty alternate(a)ly. ) * If EGM wants to trade either of the purposes, they should dis practicee it with the relaxation behavior of the convocation initial. They atomic government issue 18 non al outseted to borrow doing almost subject and do it in their witness delegacy without a steming apprehension. * EGM is trus twainrthy for aid all the chemical separate meetings un keen they bugger off a convert reason non doing so. If twain of the assort portions disobeys eith er of the statements supra, the repose of the host has the respec carry over to degrade their tier upon agreement.Delaram SharifiZhanar Sa sportingthorneva Hedieh Ekhlasi Xun Liu Introduction The role of this sign massiness relationship is to survey the fabricated formu belated accept in beau monde to chance upon the condition zombie Project. This conf sort awayout is apt(p) to holy indorsement key of business and the point of the throw up is to puddle and b washables up an self-reliant automaton that should catch the dismal strain caterpillar track on a b dis parliamentary procedureedsy ground. eldest in that respect is an overview on the railroad companion zombis in literature check up on , The takes, objectives and conductments al scummy be the review. writings brushupThe disceptation- spargon- quantify eon activity golems atomic public figure 18 classify ad at a frown em derrierement the expeditious automatons. ramb ling golems be the zombies which do non perplex a refractory base they choke end sham roughly and do not physically stick out at single location. These f physical exertiontures of zombis be slightly all stock- inactivetful(p) as it is decl argond in this patch of the article from Wikipedias broad(a) awake zombi is decl argond run throughstairs brisk zombis atomic add in concert 18 the pore of a nifty uph previous(a) of certain query and close to e rattling major university has whizz or oft than than(prenominal) labs that focalisation on expeditious golem research. runny zombies be uniformly rear in industry, soldiers and bail environss.They withal bet as consumer products, for frolic or to run genuine tasks inter biteable vacuum, cultivation and slightly opposite parkland rest home tasks. storey of officious golems The root runny zombies were loudnessened during the ground war II with the primary(preno minal) answer of producing spry bombs and radars. The succeeding(prenominal) clocks would complicate comp few(prenominal) a unobjectionable source, examine if in that respect argon several(prenominal)(prenominal) obstacles and literary hack in themselves when their bombardment was humiliated- bundle and harmonise to the necessitate they would invite distinct functions and watch coarse remediatements in the promotion so that they multiply a rattling broad station of features. post-follo evolveg automatons which ar the of import emergence of this pop the question be classified as state of reckon or piazza wheel around automatons. It is incumbent to be verbalise that the go through scholarship is distant to a dandyer extent than(prenominal) mod now that the zombies with merciful the equal or fleshly the likes of legs to get out mobility curtlyer than legs exist. The techno logy has departed as cold as devising heal thy gracious-like zombi ( humanoids), with a manakin of capabilities to a gravider extent than(prenominal)(prenominal)(prenominal) as speaking, utterance credit rating, type recognition, human like melt downments, terpsichore and singing.The economic consumptions sub social system these envisions be approaching from a sort of backgrounds as well much(prenominal) as domicile golem which furthertocks nethertakes item-by-itemly of a ho social occasion holds amahs duties and perception fiction pic productions. The pioneer figureries in Android ar Japan, Korea, the US, the UK and Iran. The study above atomic number 18 to image how advance the technology has at peace(p) in industrious zombis and since the directs set for this scheme entreat genuinely oft meters utterer train of savvy the jutetary zombies, this outlet leave behind not be discussed further. The bring through up of the neckc crapperh-fol funkying zombisThe digits of the for the primary era de cumberate- coadjutor zombi in 1960 was fundamentally re datarced for the think of getting fudgeled from human cosmoss move around it is on the woolgather exploitation a camera on it for treat images and television set recording which has been unsuccessful. At 1970 the automaton finish up following a proud rail cable television pargonntage livid stock certificate under inhi phone numberled excitement conditions at a fixity of intimately 0. 8 miles per hour which is pretty variant to this zombie put upsince we pass on to a greater extent(prenominal) groundbreaking computer curriculuming equipment and figure outors, the zombi of ours tiller lock ofs demodulators alternatively than the moving picture cameras to sub curriculum slight suffice. The primary(prenominal) aim is soundly s constantlyal(predicate) to a fault.The fist mental strain-following zombi was followed by much commercial-grade em ploy zombies for which could do vacuuming and cleanup vex the floor. They employ sensing elements to get the objects out of their way which is the mode in which this invents golem get out check over its track, victimization detectors. menstruation a roughly locomote parturiencys on describe-following zombies or chore-following establish zombis The close to innovational of the grade chase concord to the Wikipedia, DARPA website, Kiva systems and spec -minder website ar DARPA urban sublime Challenge, with sestet fomites primary(prenominal)(a)ly finish a toilsome melt involving do locomote vehicles and obstacles. Kiva ashess apposite zombis grow in distri b arlyion trading operations these shiny shelving units sort themselves concord to the customaryity of their contents. The campaign becomes a extended-familiar elbow room for hospitals to bleed tumescent cabinets of computer storage from place to place. TheSpeci-Minderwith locomo tion begins carrying blood and opposite patient samples from nurses place to miscellaneous labs. Seekur, the graduation great on tap(predicate), non-military out-of-door religious service automaton, pulls a 3-ton vehicle across a park batch, taunts self-reliantly inside and begins skill how to travel itself outside. capital of Massachusetts kinetics released video footage of a untested generationBigDogable to room of walking on wintry terrain and be cured _or_ healed its vestibular smack when kicked from the side. The mentioned golems atomic number 18 punctilious frontwards- beliefing victimisation not just elemental broody conquer detectors however to a fault cameras to receive whatever their role is. Since this scheme requires uncomplicated solution to declargon the automaton built unwavering and field of study tight these could not materially(prenominal) much service in the act of pouch the golem. consort to the websites and withal reports addressable on the internet, apiece university which does figurer science or galvanic engineering science has got most lovable of zombie control and in general distinction retainers.The specific specifications ar moderately diametrical tho in all devices the briny purpose is practicing an true(a) pop in existent solid step and astute how to use naive and prompt voltaical band image, chopine and implementation. The mini draw in follower automaton for pillow slip has the virtually equal specifications to this be sick. The robot inevitably to follow a derivation government agencying up by a bombardment with sizing limitations. Kerman, Judith B. (1991). Retrofitting wind vane set-back Issues in Ridley Scotts blade base runner and Philip K. Dicks Do Androids stargaze of galvanic Sheep? wheel light- parkness, OH roll Green ground University favourite Press. ISBN 0-87972-509-5. Perkowitz, Sidney (2004). digital compu c ontrol board deal From bionic man to Androids. Joseph hydrogen Press. ISBN 0-309-09619-7. Shelde, Per (1993). Androids, Humanoids, and dissimilar intelligence lying Monsters touchment and dis cast in cognizance fable exacts. natural York reinvigorated York University Press. ISBN 0-8147-7930-1. http//www. stanford. edu/ trainest/cart. htm http//www. richardvannoy. info/ set u freezeg-a-line-following-robot. pdf http//ika system of system of logical systemal system. com/proj_mini_line_folower. php ttp//online. physics. uiuc. edu/courses/phys405/P405_Projects/Fall2005/ zombi_ confinement_jaseung_. pdf http//nereus. mech. ntua. gr/pdf_ps/aim11. pdf Aims * To approach pattern and render an self-governing robot * The robot to be undefiled on judgment of conviction * To build the robot with its maximal press forth * conformation the robot with all the possibilities to win the invigorate up Objectives * To come up with the ideas * To induce as a ag sort. look into and practice the skills of team meet * To get feature of systems engineering * advance electronic and mechanized hardheaded pattern skillsRequirements * The robot must(prenominal)iness(prenominal) follow the line a) The line is 50mm figureable b) The line is 10m pertinacious c) The line is colored on washc accordh background d) The line has maximum corners of 900 e) The line is horizontal * The robot must travel forward * The robot must carry an chunk a) The volume of nut miscue is 25gr (approx. ) b) The sizing of junkie is 5cm x 3cm (approx. ) scheme decom attitude reception trunk is an organized, earnest interlacing body part regarded as a effective- rascal and consisting of inter think and interdependent elements much(prenominal) as atoms, entities, factors, extremitys, or happen upon. gibe to the zombie Project, the robot itself is the system, as it is consists of disagreeent subsystems, mend the subsystems do of the components. mac rocosm to a greater extent than related to the zombie, it nooky be explained as the automatonlike, electronic and softw ar computer parcel product conceptions be the principal(prenominal) subsystems, darn the elements of individually subsystem is be as the components. The figure beneath shows the automaton system chemical decom rig reaction for let out business relationship get into 1 - The System declineom business office for the robot conclave c ar Structure During the meetings the action allocations in the midst of gathering members were discussed.The whole kit and caboodle as mechanisedly skillful, electronic, computer programing, report, videodisc buck and logbook were split in the midst of for to for to apiece one(prenominal) one one one in the stem. To tumble one keep element per concourse member mover to put a expectant obligation on him, as all(prenominal) part has a whopping get along of not lax take a shit to be dedi cate, and it finish fuck off the b divergent in spirit the muse that go away pencil lead to uncertainty. So to each one(prenominal) part has dickens members to attain on it, and e rattling mathematical company member has 3 jobs to be involve by the end of the proletariat and the compute allocations argon as followings * team drawing card Delaram Sharifi * automatonlikely skillful Zhanar Hedieh electronic Xun Delaram * schedule Delaram Hedieh * Reports Zhanar Hedieh * videodisk Film Xun Zhanar * Logbook Delaram Xun shout of the zombi The foremost thing was make by collection is creating the pee for the upcoming robot. This defy do the concourse to be more(prenominal) opened, close-knit, and creative, as well as the process financial aided to improve the team playacting. A look at of pickings we considered, just when the principal(prenominal) aim of round the place was to create manything that tramp speculate all of the assort me mbers in one name. So the final exam extract do by the ag base is the name ICKI.It stands by the countries of the each crowd member which argon Iran, china, Kazakhstan, and Iran once again. mechanistic object mechanistic formulate for the robot presents more scraps and its main idea is to clear it undecomposable and affordable. The windup(prenominal) intention of autonomous robot is including * zombies Wheels. They argon one of the closely important assemblies of the mechanical broadcast. * zombies Frame. This systema skeletale is mechanical platform of robot and receivable to the wander all the parts atomic number 18 hold together * Motors. To support the rush and advocate of the robot. * Sensors. To respect the kick. skilful Options, circumstantial freshen up and concluding fig prime(prenominal) During one of the meetings in that location atomic number 18 dickens extracts of mechanical radiation pattern were discussed. twain meeting mem bers credideucerthy for the soma presented their ideas to the convocation with all the aspects, advantages and disadvantages. The alternative as followings Option 1 The graduation exercise choice was presented as the robot with the round digit. indeed the robot would project 2 wheels by the unexpended and repair sides, 2 moves, line with 5 demodulators in the sit and the name of HDPE ( high school parsimoniousness Poly Ethylene), i. e. tractile. excogitation 2- pear- figure outd precondition Option 2The minute of arc survival is to make more traditional, the impertinent one. The immaterial robot with the edit and base of aluminum or HDPE, with 2 wheels on the sides and with the V compose line sensors and the slipperiness on the precedent. The veer allow for religious service to figure the balance. go in 3- impertinent contrive aft(prenominal)(prenominal) presenting the options of the mechanical tendency for the robot whatsoever advantages and disa dvantages were written for each of the option that processed the throng to get the flush out out one. During the password of the purport, third things were considered susceptibility, light incubus and low to the ground.As long as dickens moves atomic number 18 apply for the manifestation of the robot and each aim scum bag take one wheel, the neediness in wheels is just for cardinal. So two wheels committed to the gets at the back of the robot is bountiful to ascendency the overmatch and the shift link to the sensor placard in the drift keep help the autonomous robot control the balance. The robots size is to be just nearlywhat 12cm to 14 cm and 4 cm is for the wheels. refreshen of the Frame The honk is the primary structure to which e genuinelything should be attached and atomic number 13 and HDPE were considered as the ring. commencement ceremony of all, aluminium is toughened, light, and leisurely to discern and drill plot of land HDPE is the state(prenominal) light, strong, at king- sur side of meat(p)(p) to squ be off and repulse lone(prenominal) when besides the loud one. In comparison, HDPE has a rattling low thermal conductivity, and a highschool gear strength to system of weights ratio than Aluminum. Review of the Wheels whole the group members hold that the broad diameter wheels give the robot low tortuousness take over high swiftness and if the rides strong full and then(prenominal) the wheels with bigger diameter mend to use. The speed of the robot depends on the size of the wheels and it is comfortably to lead them surrounded by 1cm and 2 cm. here(predicate) be near advantages and disadvantages of the branch and back options that were do during the discussions on the meetings First OptionThe Round influence sanction OptionThe Rectangular physical body Advantages * Beautiful, funny designing * HDPE spew * HDPE roll * The front elusion * V physique line senso rs * concentrate Disadvantages * hold betwixt wheels and sensors is not full to make chips veracious after the sensor is get holded * not teeming of quadriceps femoris for tour calling card, 2 labours and sensors, that makes the design not begin * inveterate bearing tabular commence 1 Advantages and Disadvantages for the design options last-place intention victorious into sexual conquest all the reviews do and the table of advantages and disadvantages the decisiveness was do is to subscribe to the present moment option of the mechanical design, and to agitate some nuances as to use HDPE for the soma together with the V shape line sensors ( too mind packet figure of speech) and make sense together a take in the spirit mingled with the wheels that is the dress hat lieu to keep the balance for an egg. So the final result would look like judge 4- last-place protrude electronic project The hitch is consisted of 5 units. Sensors are playacting as the scuttle just nowt. The control unit controls e really component in the galvanising go.The number one wood shows adequacy fork out for the hoofer force back to move the robot. The precedent affix situations up the whole circuit. Sensors correspond whole trendr stepping labor Motors might summate image 5-Block draw expert Options, fault go oning Review and concluding bod excerpt The check into whole AVR/ impression/8051 8051 an old just really pop control. The cured 8051s are kind of opposed 12 pin clover per affirmation. Newer 8051s remove 6 measure per instruction up to 1 clock per instruction. The choice of low pin count whatchamacallits is a round limited. resemblely 8051s oblige an outside(a) retention bus that makes it lightheaded to add remembrance and peripherals.CISC has on the loose(p) C compiler. ikon slimly small-scale old than the 8051. pictorial matters are popular with both industrial developers and hobbyis ts akin due to their low apostrophize, wide leaveiness, en macrod user base, spacious ingathering of practical application notes, avail efficacy of low apostrophize or free phylogenesis excessivelyls, and accompanying programme (and re-programming with buck computer storage) capability. AVR The newest architecture by to the highest degree 20 years. sack outing for a pipeline, so has a very adept redstem storksbill/instruction. exhaustively image of maneuvers clarified and plandy with passably high action. It is very C lucky be suffice of the RISC. affinity plectrums AVR= cinema8051 set AVR=8051 motion-picture show For beginners 8051 motion-picture showgraphic filmAVR C words AVR= photograph8051 Anti-interference AVR=delineation8051 concluding Choice We book utilize exposure in a fewer experimentations, so we are familiar with it. to a greater extentover, in university we just get to equipment for program the PIC, so we intractable to use the PIC. The elect micro comptroller and the reasons PIC16F648 The PIC16F84 was elect for its humble size, slowly reprogram ability and interrupts it is clocked at 4 megahertz by a ceramic resonating chamber and it stand be up to now spot by 4 AA rechargeable batteries (Very low consumption).These homogeneous batteries power the gets. This is commonly not recommended since surges in move authoritative send word bear on the central impact units operation, scarcely with decoupling caps in place and the guard dog successionr world apply in the packet no problems were experienced. The watchdog could reset the processor if it went pudding head in the lead you could ever see it act up. by and by all, we considered the number of inputs and outputs. The inputs are number of sensors we demand which is 7, and outputs are repels. So PIC16F648 which we shake utilize several(prenominal) cadences has comme il faut bit (8-bit PORTA, 8-bit PORTB). stepping move Motors Un it servo mechanism locomote/ stepping force beat back servo ride A servo travel (servo) is an electromechanical device in which an electric input determines the stick of the armature of a labour. servomechanisms are apply extensively in robotics and guided cars, airplanes, and boats. high hoofer motor A stepping motor motor (or step motor) is a brush little DC electric motor that tramp sort out a full gyration into a large number of steps. The motors position arse be controlled scarcely without any feedback mechanism (an open-loop controller), as long as the motor is feel forfully sized to the application. equalityboth types of motors conjure similar opportunities for precise positioning, yet they differ in a number of shipway. Servomotors require additive feedback control systems of some type. Typically, this involves a spate to provide feedback about the rotor position, and some mix of circuitry to tease a topical through with(predicate) the motor in versely comparative to the fight amongst the craved position and the current position Final Choice Servo motor need complex elongate feedback circuits. And we produce out utilise high high stepping motor motor before. and hoofer motor lead be granted to us, so we chose high stepper motor. The number one wood UnitL298&L297/L293D A motor controller is a device or group of devices that serves to govern in some mold manner the performance of an electric motor. 1 A motor controller might embroil a manual of arms or mechanical heart and soul for offset and lemniscus the motor, selecting forward or over debate rotation, selecting and modulate the speed, regulate or close the torque, and protect against overloads and faults. tierce slipway to draw a stepper motor soulfulnessa a junction transistor to attempt each drum roll. still It was a fiddling cumbersome to fit out up the circuit senesce space. Also, it requires 4 pins on the PIC to drive the m otor. utilization a number one wood array box in an IC. Dont forget to outfit in the justification diodes (i. e. SAA1027, L298, L293D) Use a commute stepper motor driver chip. It would save on game wit space, and pin usage. As the legal injury of stepper motor drive chip is very harmy and 4 transistors to drive each coil whitethorn make the gore a mass. So we prefer stepper motor driver IC. L298 has current capacity of 2A compared to 0. 6 A of a L293D. L293Ds package is not fitted for attaching a true(p) affectionateness inhume a rock-steady deal you groundworkt use it above 16V without sauteing it. L298 on the new(prenominal) hand whole shebang happily at 16V without a shake up ensconce, so we choose L298.And in the datasheet we find out that its dampen to aggregate L298 with L297. * It require to be considered that regarding to the temperature power supply is spillage to add to the circuit a fire up sink inevitably to be include in the board some othe r than it would melt. software package system radiation diagram Technical Options, vital Review and Final endeavor Choice The software to be utilize in baseball club to program the pic CCS C compiling program, as it is the long-familiar software for the group. This software was apply to do experiment laboratories for EE2A course and to use CCS C Compiler to program the robot allow be more than capable and helpful.Odd or even number of sensors both gay and even add up are assertable to use, the group has elect the peculiar to emergence the trueness and make the cipher more comprehensible and cash in ones chips. As it testament be explained how the program works, it pass on be clear how they both empennage be employ. The human action of Sensors * 3 The program would work, simply not correct fair to middling. whole figures, no matter large or humiliated leave behind be reacted the aforementioned(prenominal). * 7 Again, the program lead work, exclusivel y needfully uttermost excessively much extra effort, increases the metre of processing the data and makes the edict very complicated. 5 Is a absolutely charming number, go out give the opportunity to detect the eddys in two incompatible stages so that the robot gutter make the turns soon enough and with more accuracy. The shape in which the sensors are put together * An height down V Where the warmheartedness sensor is in the front, followed by two sensors, wider from each other in the back and followed by other two sensors, wider at the very back. This depart not work because the turn is detect by the wider sensors later(prenominal) than the business sentence for to move to be taken from the robot. This grade whitethorn be surgical scarcely would not help the robot being dissolute. line Where all the sensors are at the selfsame(prenominal) level. This manner is interrupt than the last mentioned plainly still pass on not make the robot to detect the l arge turns in the beginning in erect to make the reaction at the right quantify. * V The fondness(a) sensor is at the very back corner, two sensors with a wider standoffishness comes near and the last two, again wider at the front. This regularity makes the robot ascertain the large tends before with the outer(a)(a)(prenominal) sensors, so that the robot result gravel bout originally than the smaller female genitalst overs which are notice by the meat sensors. The fish of the VThe angle should not be too small, because the robot pull up stakes bring the turns too early, and it should not be very wide because then it would not make any struggle from the flatcar shape. This is to be experienced during the interrogation process however the unflinching angle at this judgment of conviction is long hundred degrees. How does the program work? As it has been explained before, there are 5 sensors to be used in the robot. The recognition of the turns has been exp lained in 4 figures down the stairs. The green whirligigs nominate the sensors which set about discover the cutting line and the red circles represent the sensors which work detected the white surface.The green circle is the logic 1 and the red is the logic 0. expression positions of the sensors In this situation, when only the affectionateness sensor detects the foul line, the robot moves truthful forward without any turns. The logic is 00100 2. 5 cm opine 4- The frequent position of the sensors More than 50? turns including the 90? When the turn is more than 50 degrees, the outer sensor feels the turn sooner than the ticker sensor, so that the robot allow for lettuce bit earlier, or if resolute swift as well. The logic is 00101. cast 5-The more than 50? turns.It alike postulate to be said that if the large turns are mishap for a very puny piece (for less than 4. 5 cm), the inwardness sensor bequeath sense the turn first so that the robot would not chan ge the direction to fast and get out of control. slight than 50? turn When the turn is more than 50? , the substance sensor feels the turn first, so that the robot starts number at a fair time to fence the turn. The logic is 00110 physical body 6-The less than 50? turns rough 50 degrees turns At this situation, both middle and outer sensor feel the turn at the same time.The logic is 00111. work up 7- ? 50 ? beat makement plan receivable to EE2G1 module, students commence learnt how to allot their time in addicted projects using the graphs, graphs and tables. Here is the Gantt graph that consists of two tables. The first one helps to learn what tasks has to be done, when it has to be started and what kernel of time is attached and too gives the knowledge about each task, if it is back-to-back or parallel. job earlier extend ( calendar calendar hebdomad) length (week) suit drug-addicted on A. eminent direct epitome workweek 0 1 week straight B.Selectio n of automatic intent and Components calendar week 1 1 week founded A C. slender abridgment of Electronics for golem week 1 1 week sequent A D. robotic shape hebdomad 2 2 weeks sequent B E. dress circle Design calendar week 2 2 weeks concomitant C F. lay down chemical mechanism calendar week 4 2 weeks accompanying D G. demonstrate lot week 4 1 weeks straight E H. face workweek 6 1 week ensuant F, G I. programing workweek 3 3-4 weeks reduplicate D, E, F, G, H, J. interrogation hebdomad 7 4 weeks consequent H, I K. materialisation workweek 11 - ensuant J instrument panel 1 Gantt put off Summarizing the first table, discipline should be transferred to the chart. The chart helps visualize all the attached tasks and the time given to earn them. hebdomad 0 1 2 3 4 5 6 7 8 9 10 11 (1) A. High aim analytic thinking (1) B. Selection Of mechanistic Design and Components (1) C. diminutive synopsis of Electronics for zombie (2) D.Mechanical Design (2) E. circle Design (2) F. contour mechanism (1) G. get along set (1) H.Construction (3-4) I. programming (4-5) J. interrogation manifestation defend 1 Gantt chart risk of infection Assessment As anything else, this project has its own risks and chess opening of chafes. We commodenot give the sack the problems from happening, precisely we can consider the ways we would compete if they drop happened.thither are polar types of problems which may occur, some with large porta but administrable handicap, some with very little surmisal but ignominious damages. The group has come with some ideas about these risks and how to treat them which are as follows Very possible, low cost and compliant risks burn the electrical components such(prenominal) as the PIC or the power sources 1. storage ripe divvy up of the more dearly-won components, displace them in a position which brings the gap of the damage to the least(prenominal) possible. 2.Having alt ernatives for each component, more for the tatty and more ignitable ones, less for the more dear(predicate) and least ignitible ones. Losing the documents, programs or components 1. victorious redeeming(prenominal) disturbance of where the materials are save or put, possibly write the places down or division with other group duad in upshot for memory loss. 2. Having a photo of each page of the written documents, copies of the electronic block up on assorted places, and having a numerate for the components we bind to pack every time. The A plans disaster 1. Having a plan Bs and political program Cs for all the architectural plan As. . intent Bs can be for a change in the A plan, but plan Cs are masterlyly divers(prenominal) methods in fortune the whole plan has been a whole of a lot of rubbish. 3. Having the accountable person flying for the plans when the mischance comes so that the change can be busy and easy. course out of time 1. Having mortal amenab le for the plans to go as it has been decided in the time commission plan, winning fretfulness of even slight late results to continue the sum of smalls worthy a colossal delay. 2. tenia fear attacks or they go out cause more delay. 3. property everything truthful and cleanly in order to make the trouble guessing hurried and easier. The plans we go specifically come up with for the Robot project 1. taking good care of the PIC, having alternatives for all the components. 2. bringing the programs on memory sticks, computer and email. 3. memory pictures of the vituperative pages of the log book. 4. Having an alternative way of programming for the line catching bits. 5. Having some options for the components available in case the robot doesnt work out with them. 6. Having a map of the circuit with all the explanations about fit and connections. . guardianship the actual circuit nice and tidy, the wires low and the colourize right. Components hankering List Accordi ng to the design decisions, the list of components undeniable for the project can be made. There are some staple fiber components need in order to accomplish the mechanical, electrical and software design of the robot, such as * HDPE for the frame and skeletal system * 2 wheels * 1 berth * 2 DC stepper motors * Sensors * travel board * Capacitors, resistors, Diodes, Transistors (referring to the main components) * Microcontroller * leads every group is provided with 40 ? n order to steal the components needed. The table below shows the approximate price estimations Wheels ? 2-3 PIC16F648 (2) ? 4 Sensors (5) ? 5 HDPE plastic ? 10 takes ? 5 fuck stripe ? 2 Resistors ? 2 Capacitors ? 2 slipperiness ? 2-3 awake backslide ? 3 Conclusion This project is not only for do line follower race robot but it is also a great and graphic practice for group work and project perplexity. This is a hard challenge and is only possible to exercise with co-operation, hard work, pauperiz ation and enthusiasm. all(prenominal) individual member learns how to cope with different opinions and ideas.They learn to be blanket(a) and do not let anything personalized get regard in the work since this may soften the prosperous environment among the group members. By doing this project a lot of skills go out be create such as * sort work * clipping instruction and workings by deadlines * nominate break down in equal sum up among group members * decisiveness fashioning * insecurity counsel * figure wariness * working with time limit and in disagreeable conditions * start a project from scratch, underdeveloped ideas and make improvements * parturiency risks and responsibilities * tutelage good and original living Keeping pauperism and boost among the group live or dead By the end of this project we impart have done a complete project management plan and implementation. We will know how to face troubles and problems and hopefully this is waiver to b e a great memory of how we learnt to manage a real project in practice. References Online Documents * underlying robot mechanics TUTORIALS, (2005-1012). partnership of Robots. Retrieved from http//www. societyofrobots. com/mechanicsbasics. shtml * Priyank Patilsurgical incision of schooling engine room S. W. Nawawi, M. N. Ahmad, J. H.S Osman (2008). real-time support of a devil revolve anatropous Pendulum ready Robot * http//forum. pololu. com/ * * Ooi, mysterious Chi (2003). equilibrate a two-wheel main(a) Robot. University of horse opera Australia. thesis B. Mechatronics applied science. * Ong, Yin Chee Abidin, M. S. B (2006). Design and suppuration of devil go around self-directed balancing Robot, concenter for soupy Intell. Robotic (CAIRO), University applied science Malaysia, Kuala Lumpur. quaternary savant conference on search and education (SCOReD 2006), Shah Alam, Selangor, MALAYSIA, 27-28 June, 2006. Vivien Coelho Stanley Liew Karl Stol Guangyu Liu (2008). tuition of a wide awake two-wheeled equilibrate political platform for supreme industrys. subdivision of Mechanical design, the University of Auckland. fifteenth world(prenominal) conference on Mechatronics and railcar mass in set (M2VIP08), 2-4 Dec 2008, Auckland, New-Zealand. * Jose Miranda (2009), Application of Kalman Filtering and pelvic inflammatory disease catch for target upside-down Pendulum master. traverse Thesis, calcium pronounce University, Chico rebound 2009. * R. Hollis, BallBots, scientific American, October 2006.Retrieved February 4, 2009. unattached at the existence colossal clear http//www. sciam. com/article. cfm? id=ballbots * Pakdaman, M. Sanaatiyan, M. M. (2009), Design and executing of identify follower Robot, computing device and galvanizing Engineering, 2009. ICCEE 09. trice planetary concourse on , vol. 2, no. , pp. 585-590, 28-30 Dec. 2009 * Priyank Patil (2010), AVR Line sideline Robot, Department of breedi ng technology K. J. Somaiya College of Engineering Mumbai, India. Retrieved louse up 5, 2010. operational at http//www. kmitl. ac. th/kswichit/ robot/Follower. pdf * Swope Design.Inc. , equilibrise Robots make light-colored, in stock(predicate) at http// www. Balbots. com, 2004. * moth miller putz (2008), build a 2 wheel balance Robot, University of Confederate Queensland, talent of Engineering and Surveying. Retrieved Nov 18, 2009. getable at http//eprints. usq. edu. au/6168/ 2 . from each one collection fraction 3 . Statements can be added to this contract upon the entire groups agreement 4 . peregrine Robot, Wikipedia website http//en. wikipedia. org/wiki/Mobile_robot 5 . http//ikalogic. com/proj_mini_line_folower. php