Media

Sensors Lab (2/9/22)

Fully integrated sensor lab circuit featuring IR, ultrasonic, and rotary potentiometer sensors.

Various possible transfer functions found through linear regression for the IR sensor based on empirical data.

Mockup Demo (2/14/22)

Isometric view of the mockup demo CAD model.

Side view of the mockup demo CAD model.

Motors Lab (2/21/22)

Full setup of the motor lab hardware and electronics.

Fully integrated circuit with an IR distance sensor, ultrasonic distance sensor, and rotary potentiometer sensor connected to a stepper, DC, and servo motor, respectively.

Processing GUI that controls our motor lab setup. The GUI communicates with our Arduino through Serial.

SolidWorks model of our motor lab test setup. The Base is made from quarter-inch clear acrylic. The motor mounts are 3D printed PLA.

System Demo 1 (2/23/22)

Front view of frame.

Side view of frame.

Top view of frame.

Bottom view of frame.

Isometric view of frame.

System state diagram.

System Demo 2 (3/2/22)

Finalized SolidWorks CAD model of our robot's frame, lift mechanisms, and drivetrain.

Assembled frame made out of 80/20 Aluminum extrusion.

The HC-SR04 Ultrasonic Distance Sensors that we plan on using for our robot's environment detection,

System Demo 3 (3/16/22)

The SolidWorks CAD model of our robot's vacuum chamber.

A 3D render of our robot's vacuum cleaning system. This includes the cyclone chamber, the collection jar, the tubes that funnel debris to the collection jar, and the intake openings.

The Sparkfun 9DoF IMU ICM-20948. This is the IMU unit that we integrated in our robot to provide orientation and motion data.

Testing setup for our Ultrasonic Distance Sensors. The Raspberry Pi is contained within a red PLA case.

Mid-Semester Presentation (3/23/22)

Updated Cyberphysical Architecture

Updated Functional Architecture

System Demo 4 (3/30/22)

SolidWorks CAD model of the updated vacuum chamber. This time, the motor is included. Major updates were made to the cyclone separator.

SolidWorks CAD model of the vacuum fan.

SolidWorks CAD model of the Ultrasonic Distance Sensor mounts (front view).

3D printed PLA Ultrasonic Distance Sensor mounts (front view).

SolidWorks CAD model of the Ultrasonic Distance Sensor mounts (rear view).

3D printed PLA Ultrasonic Distance Sensor mounts (rear view).

SolidWorks CAD model of the robot's Electronics Shelf.

Robot Electronics Shelf laser cut from a piece of particle board. After we have integrated all electronics and made any necessary changes, we will laser cut a new version of the electronics board out of eighth-inch acrylic.