P10217: Robot Integration and Testing

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P10217: Robot Integration and Testing

Detailed Design Review

KGCOE Multidisciplinary Senior Design

Patrick Arrigo
Adam Spirer
Aaron Zimmerman
Wes Coleman
Vernon Vantucci
Steven Guenther

12 February 2010
8:00-10:00 AM
9-2580, Xerox Auditorium

Overview

Project Description (Official)

The Wandering Campus Ambassador projects will develop a robot-like system to raise awareness of self-sustaining energy and showcase student's creative and technical abilities. The idea is to create curiosity through a robot like device with a living, growing and self-sustaining plant. It will wander around in a nice, slow, autonomous fashion, searching out the best sun, water, fellow plants and friendly passers-by. Act as a great (yet very quiet) spokesperson/plant for the KGCOE MSD, GCCIS Software Engineering Senior Projects, CIAS Industrial Design Senior Projects and even the new sustainability programs being created at RIT. Just think what a great news story or YouTube episode it would make. If you think along the environmentally friendly side a little, you could consider some replenishable power sources for both the robotic-like device and its plant which are not only along-for-the-ride but may guide the robotic's autonomous decisions in search of being able to sustain the plant (i.e. water, sun, temperature, food).

Team Objectives

Preceding (and current) team P10215 and P10216 have been developing the Locomotion and Navigation platforms respectively. The job of P10217, the Integration and Field Testing team, will be to evaluate and test the designs implemented by Locomotion and Navigation. In addition, Integration will be working in parallel with P10218 who will be developing high-level Applications for the robot. Integration’s specific objectives are to do the following:

·  Assemble robot completely, with aesthetic requirements satisfactory for customer

·  Verify functionality of electrical components (sensors, Wi-Fi, GPS, sonar, IR, etc.)

·  Verify functionality of locomotion platform (motors, movement, obstacle detection, etc.)

·  Verify integration of high-level applications is successful

Deliverables

·  Fully assembled and system-integrated robot including aesthetic designs, in line with specifications provided by customer (MSD II)

·  Documentation of any changes and revisions to original designs and why they have been changed (MSD I)

·  Demonstration of all robot functionality in designated operating areas, and proof of potential for extended operation (MSD II)

·  Documentation of testing procedure methodology (MSD I) and field testing results (MSD II)

Project Benefits

·  Reinforcement of RIT’s devotion to sustainability and “green” projects

·  Excellent demonstration of successful, efficient testing procedures for integrated systems of its kind; methodologies can be evaluated for use in future projects

·  Support of Multidisciplinary Senior Design projects through potential ImagineRIT presentation

ProjectedTeam Goal

The Integration Team’s goal within the Wandering Campus Ambassador Project is to spearhead the process of integrating the work completed by the Locomotion and Plant Team (P10215) and the Navigation Team (P10216) who have developed motion, intelligence, and plant care subsystems for the robot platform. The Integration team will focus on the integration of the locomotion components and ensuring proper harnessing of electrical subsystems. In addition, Integration will design and produce the outer robot shell housing. Integration will work closely with the Applications team, ensuring smooth implementation of high-level functionality. Field testing of the robot will likely take place in MSD II.

Team Members

Patrick Arrigo Mechanical Engineering, Team Lead

Adam Spirer Electrical Engineering

Aaron Zimmerman Mechanical Engineering

Wes Coleman Mechanical Engineering

Vernon Vantucci Computer Engineering

Steven Guenther Electrical Engineering

Budget

The remaining budget for this project, which is shared with the Applications team (P10218): ~$1700.00 as of 5 February 2010.

Shell Parts

Mechanical Integration

Shell Design

Fiberglass was chosen because of its lightweight properties and also its ability to mold into some of the complex curves required. A scale model of a portion of the shell was made as a proof of concept, and the decision was made to remain with fiberglass. In addition, the number of individual pieces that make up the whole shell, and the number of mounting points to the frame, was reduced.

Mounting To Frame

Hood pins will be used to mount the fiberglass shell pieces to the frame, via antlers that will extend out from the frame to appropriate mounting points on the shell. The choice to use hood pins was based on the desire to allow disassembly without the use of tools (a strong customer preference).

Weatherproofing

Since the robot will be operating outdoors, reasonable weatherproofing is required to guarantee successful robot operation. The shell will be completely sealed except for the undercarriage and access panels. Access panels will use rubber weatherstripping materials to seal panel edges, though watertightnes is not explicitly required. The idea is to keep the electronics and mechanical components dry while still allowing for moisture and humidity to escape. Undercarriage not being sealed means that there is likely to be some water kickup when it is raining, so electronics will be housed in a splashproof plastic box high towards the top of the robot, away from the ground. The wiring interface to the box will be placed out of potential splash zones. Motors will be sealed from water kickup as well via splash “guards” similar to the electronics casing if needed.

Testing and Verification

The test plan is designed to provide all verification needed to ensure a successful deployment of the robot. All subsystems in both mechanical and electrical areas will be tested independently and then as an integrated system. This includes sensors, motors, and softwareapplications.

Locations

Testing will take place in multiple locations around campus. In addition to testing in the final locations (which are outdoor), the 4th floor design center will also be used as testing grounds for more isolated subsystem testing that requires the use of more equipment for analysis (oscilloscopes, meters, etc.).The following is a brief description of each location:

Field House Front Entrance – Concrete stairway landing area in front of the entrance to the Gordon Field House.

Simone Circle – Open area in front of the Student Alumni Union and George Eastman Building. The Sentinel sculpture is present in the center of this area.

Kodak Quad –Quad area in front of the Gannet and Eastman Buildings, populated heavily with students moving between classes.

4th Floor Design Center–Workarea designated for Multidisciplinary Senior Design students. Testing equipment is easily accessible in this location.

Each location presents its own obstacles and navigation challenges. The following table displays important comments related to each area.

Note: The roaming capabilities of the robot are customizable; the robot can be programmed to wander in any given area if new areas are needed in the future.

Categories

Test procedures can be broken down into categories based on subsystem and operation types. Initialization and shutdown procedures will test the robot’s ability to power up and power down successfully under all required circumstances. Procedures will also be in place to test electrical systems including sensors and processors; as well as application systems (wireless connectivity and location services); mechanical systems including motors, motion, and plant care; and the frame/shell and harnessing mechanisms. The following subsystems as targets for testing procedures are as follows:

Motors – Locomotion platform components for motion

Plant – Systems dedicated to plant care, water tank, and the plant itself

Frame – Chassis-related components, mounting brackets, wiring harnesses

Shell – Robot outer housing

The following test categories have been identified, with description and associated subsystem:

Guidelines

The following are guidelines for writing Test Procedures:

Test Procedures will be enumerated according to the following method:

Methodology

The following is a general testing procedure which includes steps for debugging and reworking failed tests. In addition a flowchart for individual test execution steps is described.

Note: Although not shown in the flow chart above, if the Test Fails, the robot will still go through the shutdown procedure

Preliminary Requirements

Electrical Integration

Housing