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Introduction
Objectives
About
Troubleshoot
Sustainability
Development Iterations
Design Challenges
Team
Introduction
exhibits. These engage them cognitively and
Big Cats Story
encourage them to explore and to mark their
Tigers are amongst the most commonly scent by rubbing their body against the grass
known members of the big cat family. The patches. However, these enrichments which
Malayan tigers in particular typically reside in are easily destroyed, lack success in offering
forested areas in swamps and scrubland. These a sustainable solution and oftentimes require
carnivorous creatures are excellent predators; physical labour that may compromise keepers’
they hunt their prey using their keen sense of time and safety.
/HARDWARE
TROLLEY
• 1 x (Muji) container 17cm x 5cm x 2cm • 1 x Straight bracket with 4 holes, 10cm x
1.5cm
CLAW
/ELECTRONICS
• 2 x Hinges with 2 holes, 5cm x 1.5cm per side
• 2 x Anti-slip rubber 10 cm x 4 cm
• Screw driver
DEVICE
• Wire cutter
• 1 x Worm gear right-angle reversible motor
DC, 12V 20 rpm 20 kgcm torque
• Wire stripper
• 1 x HS - 311 Servo
• 1 x H-Bridge SN754410NE
• 1 x Perfboard
REMOTE
/TOOLS
• Electric drill
• Dremel
from the analog pin 4
How to: Remote
/ELECTRONICS
bool clawIsOpen = false; // track claw state
1. Connect 4 jumper wires to a XBee set: GRD, bool motorIsFwd = false; // track motor
direction
+5V, A5 and A4.
bool autoison = false; // track auto mode
2. Load the sender code onto Arduino UNO
of the above XBee set using a USB cable for
Arduino UNO: int treatValue(int data) { // joystick value
conversion
#include “SoftwareSerial.h”
return (data * 9 / 1024) + 48;
SoftwareSerial XBee(2, 3); // initializing XBee
RX, TX Pins }
XBee.begin(9600);
char a = XBee.read(); }
Serial.println(“a”); else if (valueA > 300 && valueA < 520 &&
!clawIsOpen){
// check for LED blink on shield
// when button at neutral
}
Serial.println(valueA);
}
Serial.println(“Close Claw”);
XBee.write(“<B>”);
void loop()
clawIsOpen = true;
{
}
valueA = analogRead(joyPinY);
delay(20);
valueB = analogRead(joyPinX);
} autoison = false;
Serial.println(valueB); delay(20);
XBee.write(“<D>”); }
}
3. Solder the wires of the battery holder to the
delay(20); battery adapter, Black to Black for ground
and Red to Red for power.
// turning auto zipline on 4. Place shrink wrap tubing around the soldered
if (valueA > 700 && !autoison){ area and apply heat to protect it.
Serial.println(valueA);
/HARDWARE
Serial.println(“Auto On”);
1. Drill 2cm x 2cm squares in the 3 (Muji)
XBee.write(“<E>”);
boxes using an electric drill and screw them
autoison = true; together as follows:
2. Drill the joystick on top of the bottom box
and in front of the 2cm x 2cm square as
shown.
header pins to the perfboard as shown: i) Attach middle wire of servo, Pin 1 and Pin 8
of the H-bridge
2. Connect a perfboard, a XBee set, a motor and 3. Connect Xbee Shield to a H-bridge using
a servo as follows: jumper wires:
Arduino Pin 8 to H-bridge Pin 2
Arduino Pin 9 to H-bridge Pin 7
#include <Servo.h>
4. Attach two jumper wires from Pin 3 and Pin 6
of H-bridge. These wires will output voltage Servo servo;
// autoloop variables
#include <SoftwareSerial.h>
pinMode(in4Pin, OUTPUT);
int motorSpeed = 0; }
{ autoLoopTimer += millis() -
lastAutoLoopUpdate; //timer check
Serial.begin(9600);
lastAutoLoopUpdate = millis();
xbee.begin(9600);
Serial.println(autoLoopTimer);
servo.attach(13); // servo logic pin attached to
if(autoLoopPhase % 2 == 0) { if(autoLoopPhase >= 12) {
//count odd }
setMotor(255, false); }
} } else {
while(xbee.available()){
if(x == ‘<’) {
} motorSpeed = 255;
is_cw = false;
if (input == “B”){ }
angle = 50;
} isRunningAutoLoop = true;
lastAutoLoopUpdate = millis();
// driver control }
if(input == “C”){
if(!reverse){ /HARDWARE
support wheels. We inverted the containers using L and straight brackets to centre
so the mouths faced downwards, so that the underside of the claw assembly platform.
electronics can be placed on the lids and Mount the servo motor to this support
pushed up into the housing and locked. structure, securing loose cables with zip-ties
as anti-jerk protection.
2. Run the zipline through the pulleys as shown: • Right (move (right)
/CONTROL Precaution
You could:
two of the three pins labelled Xbee/USB). The above on General Troubleshoot). Else, reload
sleeves should be fit towards in ‘USB’ position receiver code onto Arduino board:
iii) Reset ‘jumper’ settings to ‘XBee’ after if transmission from remote is successful,
•
/TROLLEY
Our current zipline model can be further Given the mobility of the device and remote
designed to encourage tigers’ natural pouncing controls, using Xbee modules with trace or UFL
abilities during hunt by constructing robust chip antennas rather than those with wired
claws to withstand tigers’ weight (up to 150kg) antennas will make the claw more resilient, for
if they were to attempt to grab its food from the the latter is more prone to damage.
device hanging above.
/INITIAL IDEAS
Initial ideas such as a robotic ball and audio- many issues along the way: designing a robust
visual stimulation were suggested. While these claw that not only withstand weights but is also
ideas were interesting and plausible enrichment weather and ant-proof; getting the angles right;
for the tigers, due to limited budget, the selecting the right motor with the correct torque
robotic ball is less than feasible; the keepers and hence speed; selecting the correct material
also brought up concerns about audio-visual for the rope; physics of the trolley to spread out
stimuli that may encourage undesirable visitor weight across not 1 but 3 pulleys.
behaviour (using laser pointers) and brightness
from the visuals might disrupt zoo experience
for visitors.
/LOW-FIDELITY PROTOTYPES
First and foremost, no zookeepers can be in the Furthermore, no meat was used during the test.
to only be exposed as minimally as possible, Year 2, Communications and New Media major