Graduate Project: Automatic Grading Robot

Grademaster 9000: Automatic Grading Robot

While in graduate school, I took Dr. Aaron Becker's "Introduction to Robotics" course. I really enjoyed the class. As the final project, we were allowed to make a robot that "did anything, as long as we share all our files". My fiancee's mother is a high school science teacher and would always tell me to stop spending time building robots that fight each other, and actually build her a useful robot that grades papers for her. I took that idea and ran with it, to create a robot that performed optical character recognition on a piece of paper, determine which answers were correct, and then stamp the correct letter grade on the piece of paper in front of it. Once the project was complete, the robot was gifted to my fiancee's mother for christmas...

CAD files can be found HERE.

System Schematic

Video

Matlab Code

clc

clear all

close all

answer1 = '8';

answer2 = 'raleigh';

answer3 = 'mitochondria';

answer4pt1 = 'taj';

answer4pt2 = 'mahal';

answer5 = '256';

answer6 = 'yes';

answer7 = 'no';

answer8pt1 = 'neil';

answer8pt2 = 'armstrong';

answer9 = 'eagles';

answer10 = 'a';

questiontotal = 10;

points = 0;

a = arduino('com6','Uno');

mycam = webcam(1);

img = snapshot(mycam);

%% OCR

ocrResults = ocr(img);

recognizedText = ocrResults.Text ;

list = strsplit(recognizedText);

%% Grading

% Potentiometer Reading

pot = readVoltage(a, 'A0');

points = 0;

for i = 1:length(list)

if strcmp(lower(list{1,i}), 'one')||strcmp(lower(list{1,i}), 'answerone')

if strcmp(lower(list{1,i+1}), answer1)

points = points+1;

end

if strcmp(lower(list{1,i}), 'two')||strcmp(lower(list{1,i}), 'answertwo')

if strcmp(lower(list{1,i+1}), answer2)

points = points+1;

end

if strcmp(lower(list{1,i}), 'three')||strcmp(lower(list{1,i}), 'answerthree')

if strcmp(lower(list{1,i+1}), answer3)

points = points+1;

end

if strcmp(lower(list{1,i}), 'four')||strcmp(lower(list{1,i}), 'answerfour')

if strcmp(lower(list{1,i+1}), answer4pt1) && strcmp(lower(list{1,i+2}), answer4pt2)||strcmp(lower(list{1,i+1}), strcat(answer4pt1,answer4pt2))

points = points+1;

end

if strcmp(lower(list{1,i}), 'five')||strcmp(lower(list{1,i}), 'answerfive')

if strcmp(lower(list{1,i+1}), answer5)

points = points+1;

end

if strcmp(lower(list{1,i}), 'six')||strcmp(lower(list{1,i}), 'answersix')

if strcmp(lower(list{1,i+1}), answer6)

points = points+1;

end

if strcmp(lower(list{1,i}), 'seven')||strcmp(lower(list{1,i}), 'answerseven')

if strcmp(lower(list{1,i+1}), answer7)

points = points+1;

end

if strcmp(lower(list{1,i}), 'eight')||strcmp(lower(list{1,i}), 'answereight')

if strcmp(lower(list{1,i+1}), answer8pt1) && strcmp(lower(list{1,i+2}), answer8pt2)

points = points+1;

end

if strcmp(lower(list{1,i}), 'nine')||strcmp(lower(list{1,i}), 'answernine')

if strcmp(lower(list{1,i+1}), answer9)

points = points+1;

end

if strcmp(lower(list{1,i}), 'ten')||strcmp(lower(list{1,i}), 'answerten')

if strcmp(lower(list{1,i+1}), answer10)

points = points+1;

end

percentage = 0;

percentage = (points/questiontotal)*100;

if pot >= 0 && pot < 1

finalgrade = 5

end

if pot >= 1 && pot < 2

A = 99;

B = 89;

C = 79;

D = 69;

if percentage >= A

finalgrade = 1;

end

if percentage >= B && percentage < A

finalgrade = 2;

end

if percentage >= C && percentage < B

finalgrade = 3;

end

if percentage >= D && percentage < C

finalgrade = 4;

end

if percentage < D

finalgrade = 5;

end

if pot >= 2 && pot < 3

A = 90;

B = 80;

C = 70;

D = 60;

if percentage >= A

finalgrade = 1;

end

if percentage >= B && percentage < A

finalgrade = 2;

end

if percentage >= C && percentage < B

finalgrade = 3;

end

if percentage >= D && percentage < C

finalgrade = 4;

end

if percentage < D

finalgrade = 5;

end

if pot >= 3 && pot < 4

A = 80;

B = 70;

C = 60;

D = 50;

if percentage >= A

finalgrade = 1;

end

if percentage >= B && percentage < A

finalgrade = 2;

end

if percentage >= C && percentage < B

finalgrade = 3;

end

if percentage >= D && percentage < C

finalgrade = 4;

end

if percentage < D

finalgrade = 5;

end

if pot >= 4 && pot < 5

finalgrade = 1;

end

finalgrade;

%% Robot Stamping

% Servo Set Up

% Defined Servo Position Values

pitchup = 0.15;

pitchdown = 0.72;

boopdown = 1;

boopup = 0.78;

yawFink = 0;

yawDink = 0.06;

yawCink = 0.21;

yawBink = 0.325;

yawAink = 0.42;

yawFstamp = 0.48;

yawDstamp = 0.585;

yawCstamp = 0.72;

yawBstamp = 0.805;

yawAstamp = 0.915;

% Defining Servos

yaw = servo(a, 'D2');

pitch = servo(a, 'D3');

boop = servo(a, 'D4');

%Initial Position

writePosition(yaw,yawCstamp)

writePosition(pitch,pitchup)

writePosition(boop,boopdown)

pause(1)

% Grade Stamping

if finalgrade == 1

writePosition(yaw,yawCstamp)

writePosition(pitch,pitchup)

writePosition(boop,boopdown)

writePosition(yaw,yawAink+0.05)

pause(1)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawAink)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawAink-.05)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawAstamp)

pause(1)

writePosition(pitch,pitchdown)

pause(1)

writePosition(pitch,pitchup)

pause(1)

writePosition(yaw,yawCstamp)

end

% Stamp B

if finalgrade == 2

writePosition(yaw,yawCstamp)

writePosition(pitch,pitchup)

writePosition(boop,boopdown)

writePosition(yaw,yawBink+0.05)

pause(1)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawBink)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawBink-.05)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawBstamp)

pause(1)

writePosition(pitch,pitchdown)

pause(1)

writePosition(pitch,pitchup)

pause(1)

writePosition(yaw,yawCstamp)

end

% Stamp C

if finalgrade == 3

writePosition(yaw,yawCstamp)

writePosition(pitch,pitchup)

writePosition(boop,boopdown)

writePosition(yaw,yawCink+0.05)

pause(1)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawCink)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawCink-.05)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawCstamp)

pause(1)

writePosition(pitch,pitchdown)

pause(1)

writePosition(pitch,pitchup)

pause(1)

writePosition(yaw,yawCstamp)

end

% Stamp D

if finalgrade == 4

writePosition(yaw,yawCstamp)

writePosition(pitch,pitchup)

writePosition(boop,boopdown)

writePosition(yaw,yawDink+0.05)

pause(1)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawDink)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawDink-.05)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawDstamp)

pause(1)

writePosition(pitch,pitchdown)

pause(1)

writePosition(pitch,pitchup)

pause(1)

writePosition(yaw,yawCstamp)

end

% Stamp F

if finalgrade == 5

writePosition(yaw,yawCstamp)

writePosition(pitch,pitchup)

writePosition(boop,boopdown)

writePosition(yaw,yawFink+0.05)

pause(1)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawFink)

pause(0.5)

writePosition(boop,boopup)

pause(0.5)

writePosition(boop,boopdown)

pause(0.5)

writePosition(yaw,yawFstamp)

pause(1)

writePosition(pitch,pitchdown)

pause(1)

writePosition(pitch,pitchup)

pause(1)

writePosition(yaw,yawCstamp)

end

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