Invest-O-Matic

2
nd
Design Review
Gustavo Cezar
Srinath Sibi
Sean Sketch
John Subosits

February 21, 2014
Mechanics
Body
DESIGN TIMELINE
Mechanics
Body

PLATFORM 3:
catcher-dumper (gate in front)

PLATFORM 2:
ramrod (with bumper)*

PLATFORM 1:
wheels
bumper belt (around edge)*
beacon detectors (top, front)*
line detectors (bottom, center)*
batteries (for low C.O.G.)
Arduino*
casters for
stabilization
! threaded
rod for vertical
support

TO BE
HERE
*
= not pictured
Mechanics
Drive
2 x
laser-cut acrylic insert press fit
into the wheel for tight coupling
between wheel and motor shaft
Mechanics
Catcher-Dumper
entirely mechanical
door held closed by
magnets
magnetic seal broken by
collision with depository
* could detect with a Hall effect sensor
Teflon-coated to
minimize friction
funneled spout to
increase dumping
precision
* necessary if the robot approaches the Exchange
at a sharp angle
Electronics
Power
Batteries
2 Ni-Cd, 7.2 V
in series, for motors
* greater voltage = greater current = greater torque
avoid noise by:
connecting each circuit
directly back to the power
source
using bypass capacitors to
protect each circuit from
voltage ripple at the power
source
Voltage Regulation
2 regulators
* with appropriate heat sinks
1. down to <12 V for motors

LM317T =

2. down to 5 V for logic

LM7805 =
linear
1.237 V adjustable
"1.5 A load current
linear
5 V
1 A load current
Electronics
Motors
Jameco HN-GH12-1634T-R
V
S
= 612 V
#
NL
= 200 RPM
N = 30
I
stall
$ 1.4 A

* requires high-current L298 driver, with PWM input
from the Arduino (digital pins 3, 5, 6, 9, 10, 11)
r =1.5 in
T
rated
= 0.78 kg-cm = 0.68 lb-in
F
rated
= 2
T
r
= 0.90 lb
2 motors, each producing 0.68 lb-in torque

!
rated
=163 rpm v
rated
=!
rated
!
2"r in
1 rev
!
1 min
60 s
= 25.5
in
sec
!
!
Electronics
Line Detection
to find the Server:
Left and Right sensors provide
direction of approach
Center sensor triggers spin for
alignment
aligned when Front comes back
on line

to find an Exchange:
Front counts rings
Center, Left, and Right align with
curved path of each ring
Electronics
Line Detection
+5V
0.01uF
C
0.01uF
Trg
Out
Rst
Ctl
Thr
Dis
LM555
Rb
3.3k
47
Ra
3.3k
1k
LM339
+5V
1k
0.1uF
10k
+5V
Emitter-Detector
Pair
Vout
f =
1.44
R
a
+2R
b
( )
C
=14.5 kHz
High-Frequency Oscillator:
decoupling capacitor
for noise rejection
NOTE: allows for high-pass filtering to eliminate ambient DC
(although shielding the emitter-detector pairs might be easier)
adjustable reference voltage

diagnostic LED
ON line: V
out
= LO
OFF line: V
out
= HI
Electronics
Beacon Detection
Center P-T:
in tube, aligned with robots front-
back axis for precise alignment with
the Exchanges

Left / Right P-T:
open, off-axis for coarse alignment
with the Server
use Left if approaching Server from
right & Right if approaching from left
when Center is pointed at the Server,
the photocurrent differential between
Left and Right gives direction of
approach
+5V
+5V
30k
20k 0.1uF
LM324
+5V
+2V
Virtual GND
LM324
+5V
100k
LM324
+5V
LTR-3208E
Chp
0.01uF
Rhp
100k
74HC14
Vout
Rf
2.2k
R2
1k
R1
Electronics
Beacon Detection
f
HP
=
1
2!R
hp
C
hp
= 159 Hz
G = 1+
R
2
R
1
!
"
#
$
%
&
= 3.2
NOTE: Measurements found I
photo
to
range from 0.4 to 14.3 A across the
Trading Floor. This is significantly lower
than the datasheet specs, (which cite
ON-state collector currents on the order
of mA for the LTR-3208E). Moreover, it
limits the beacons reach to 6, which
does not seem correct. This issue needs
to be investigated further.
Voltage Splitter
(set virtual GND between the rails)
Photo-Trans-Resistive
(light TO current TO voltage)
High-Pass Filter
(cut out DC)
Non-Inverting Amp
(for detection)
Schmitt Trigger
(analog TO digital)

large because
of small I
photo


small because
of large R
f

In the current configuration, the Schmitt trigger output a square wave
at either 850 Hz or 3 kHz, depending on whether the phototransistor is
aimed at the Server or an Exchange is passed to an Arduino digital
input. Then, in code, the pulseIn() function measures the length of
each incoming pulse; because the beacons operate at 50% duty cycle,
this length will be one half the period of the signal. In this way, it is
possible to visually differentiate between the Server and Exchanges.

An alternative circuit would split into two parallel paths after the DC-
eliminating high-pass filter. One path would high-pass again to isolate 3
kHz. The other would low pass to isolate 850 Hz. The difficulty lies in
the closeness of these two frequencies (at least on a log scale). With
cascaded RC circuits (i.e., 2
nd
, 3
rd
, 4
th
-order passive filters), it is difficult
to get a sharp corner between the pass and attenuation zones on the
Bode plot. One possible solution is to use an active filter, such as a
Sallen-Key topology; this will be investigated further. That said, filtering
in code (as described above) is likely the best solution.
Electronics
Beacon Detection
Electronics
Bumpers
____ .~.1.,
p~a4t v.~4q~ A ~ -4ev ts,a.ve.\
S ~ 4 ~- ~. s
kb ~4cA.
~ S
~:C ,..~ti \
lbJ to .~
Lu
I
I I
//
\
-- a
~1
2 functions:
1. collision avoidance
2. notification of arrival at
Server or Exchange
Electronics
Bumpers
with electronics
+5V
10k
C
0.1uF
R
100k
74HC14
Vout
+5V
10k
Vout
with code
+5V
10k
C
0.1uF
R
100k
74HC14
Vout
+5V
10k
Vout
debounced%
!
LP
= RC =10 ms > t
bounce
NOTE: In addition to OR-ing the
outputs of each switch pair to produce
a single output, it is likely that multiple
switches (e.g., on one side of the
robot) will also be tied together.
Software
State Diagram
at a very high level%
3 p i N 6
(0 1.. L~ C~ IN C~
3 IN
Bit IN$?~t4V
(0114 ~
(0 L 1~ E L~ 11.J C,
S
CoIN S
<- 0 L I- ~ c~1- I N C,
$
C~0tt4 ~
)4T. G.x
t~O~.% PIN (~
IN
~KRN
C,
IN
DA~4~E
START
END
S
T
R
A
T
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