Pete-Bot Paper Shell

Written by Elizabeth Nguyen (Project Manager)

Objective

Pete-Bot requires an outer paper shell that covers the chassis. Its image should have a likeness of CSULB’s mascot Prospector Pete.

Template

Provided by Professor Hill was a template to create a concept art for the Pete-Bot paper shell. The original image is of Optimus Prime.

Templates of Antenna, Base, and Arms

Templates of Head and Body

Challenges

There are not a lot of pictures of Prospector Pete in the first place. This proved to be a challenge to create a concept art that can fit within the template. Also, no one in the Pete-Bot team has artistic experience, so a friend of the project manager was commissioned.

Time was another issue. In reality, this paper shell should have been worked on from the beginning. It required a concept art that would fit within the template and then worked on from there.

Current Image

My friend was able to draw a 360-view of Prospector Pete. Although it cannot be currently used for the template, it could be used for future reference.

Concept Art

Project and Planning Schedule

Written by Elizabeth Nguyen (Project Manager)

Objective

The objective of the planning and schedule task is to compile a project schedule for EE 400D from start to finish. The schedule was made on Microsoft Project and can be used as future reference for EE 400D project planning. What I’ve described is the process I’ve taken to create this project schedule (currently incomplete) and what details I’ve kept in mind.

Initial Planning

A discussion took place with Professor Hill concerning this project schedule. It needed to encompass a more detailed breakdown of the tasks a toy robot project would require along with links to tasks (to determine a critical path) and a timeline.

For reference, the EE 400D Task Matrix was used as a template for the assembly, software development, and verification phases. A more general project schedule was used to define the details of the design and planning phase.

Top Level Schedule

There are six general phases:

  • Hiring – Week One to Week Three
  • Planning – Week Four to Week Seven
  • Design – Week Four to Week Seven
  • Assembly – Week Eight to Week Thirteen
  • Software Development – Week Three to Week Fourteen
  • Verification and Validation – Week Thirteen to Week Fifteen

I broke down these six phases by the amount of weeks allocated towards them and further broke them down by tasks that should start or begin within them.

Divisions and Management

There are three divisions within EE 400D that students could be assigned to. A member of each division is then assigned to a project manager (PM). Each division is overseen by a division manager (DM) who is responsible for providing training for their respective division members. Their training schedule is accounted for in this project schedule.

Outlined below is a breakdown of the divisions and what they are tasked to do:

  • Manufacturing (MFG)
    • Responsible for learning SolidWorks in order to make 3D-print models for their project
  • Electronics & Control (E&C)
    • Responsible for learning Eagle to design and fabricate a custom PCB for their project
    • Responsible for various electrical components for their team such as encoders, servos, motors, etc.
    • Responsible for firmware
  • Missions, Systems, Test, and Software (MSTS)*
    • Responsible for determining resource allocation (current draw, power budget, etc.)
    • Responsible for development of software (which will follow the EE 444 lab sequence)
    • Responsible for verification and validation
    • Responsible for defining Level 2 Requirements

*Missions, Systems, Test, and Software may be divided into two divisions where MST is as it was before and Software is its own division. This is due to the fact that software tends to be ignored and left until the end of the semester to be done. Also, based on how I’ve currently structured the project schedule, MSTS may be too much of a responsibility for a single student.

Outlined below are some of the responsibilities of the PMs and DMs that were taken into account for the project schedule:

  • Project Managers
    • Responsible for outlining the requirements definition
      • Mission Objective
      • Level 1 Requirements
    • Responsible for the Preliminary Design Plan and Preliminary Project Plan
      • Monetary Budget
      • Project Schedule
    • Division Managers
      • Responsible for creating a training schedule for their respective divisions

Linkages

One important aspect of the project schedule is that the tasks are linked together. Links are created because one task cannot begin without another finishing. For example, PCB fabrication cannot begin without a PCB design and layout.

What also has caused schedules to not perform as intended is because linkages are not determined early enough. The purpose of this project schedule is for these linkages.

Pete-Bot Power Budget

Written by Melwin Pakpahan (Missions, Systems, and Test)

Description

The 3DoT Board contains key components that each draw current from the battery.  The boost draws current directly from the battery and provides power to the LDO. The MST Division Manager created the power budget template which is modified for the Pete-Bot.

Table One

Table Two

The Pete-Bot will use two motors and two color sensors. Values in blue cells are measured values. The motors consume most of the current from our system with about 100mA per motor, but this is acceptable. This value was obtained from my previous blog post, “Measuring Power Consumption of 3DoT Board.”

Table Three

Table Four

The margins for the LDO, Boost, and battery allow for a large margin for additional components.  The estimated mission duration is 20 minutes. The Pete-Bot is expected to run the mission within this time allotted.

Rules Of The Maze (Robot Avoidance Rules and Strategy)- Part 2

Written by Nornubari Kanabolo MST DM

Special Case 2.3(T-intersection) continued

As Matt explained in the previous post, for 2 robots at a T-intersection:

“In this case the robot that is within the intersection (in the middle of the T – intersection) has the lowest priority and must move out of the way of the other robots (if the other robots are in the path of the low priority robot). The lowest priority robot will step down the hallway that is not blocked and then wait for the other robot to pass.”

As for the case with 3 robots at the intersection, the following method could be used:

Say R2 steps into the intersection and R1 needs to go where R2 is and R2 needs to go where R3 is. One thing that could happen is R3 goes back to the last intersection to wait and R2 waits 5 seconds to move one square to the right.

At this point, 2 possible cases could happen. Case 1 as follows:

R1 waits 5 seconds and sees that there is no one in the intersection now then moves into the intersection, so that it can go to the hallway where R2 was. R2 waits another 7 seconds and goes down to where R1 was. R3 waits 3 seconds and returns back to where it originally was.

Or if R2 needs to go where R3 is then Case 2 is enacted as follows:

Since there are no longer 3 robots at the intersection and it is now just 2 at an intersection, the rules for encounters 2.3 as stated by Matt are used.

Ultrasonic Custom 100mil Male Connector

Written by Zachary de Bruyn

Purpose

The 100-mil male connector was necessary in order to incorporate an accessory item, such as a sensor, to one of the 3DoT boards headers. The ideal connector would allow all projects within 400D to utilize a “universal” connector to implement for their respective projects.

Connector Elements

The utilization of a 100-mil male connector was only applicable to the 3DoT board which utilized female header pins as shown below.

Figure One – JP5 Header used for 3DoT board

The 3DoTX, which utilizes the SAMB11 MCU was designed using male header pins, seen here:

Figure Two – 3DoTX male header pins

Due to the two different header stles used for both boards, a “universal” connector pin could not be implemented to be utilized with a sensor, such as the VL6180X proximity sensor shown below. The pins utilized for the breakout board are male header pins, similar to what is shown in Figure Two.

Figure Three – VL6180 breakout board

Therefore, in order to implement a system that would allow the proximity sensor to be used for both the 3DoT and the 3DoTX, a set of female-to-female (f2f) jumpers will be implemented and attached to the proximity sensors male header pins. This will then be used to connect to the initial 3DoTX board, which again, utilizes male header pins in lieu of the female header pins.

Alternative Plan

The best case scenario is that the 3DoTX board performs its mission objectives without incident. However, if an occasion were to arise such as the new 3DoTX board being replaced by the heritage 3DoT board, then the replacement would be a simple “plug and play.” This would be done first by removing the 3DoTX board from the Pete-Bot chassis. Second, a spare set of male header pins will be inserted into the JP5 female header pins of the 3DoT board. Finally, the f2f jumper cable will then be inserted into the respective port. The heritage 3DoT board can then be easily inserted back into the bottom of the chassis, and the robot can then attempt to perform the objectives it was designed for.