UNIVERSITY OF NEW SOUTH WALES Faculty of Engineering, School of Electrical Engineering ENGG100 ENGINEERING DESIGN AND INNOVATION Design

Proposal Report

Prepared by Jacky Tran Amogh Sarda Daniel McKeogh April 2012

ENGG1000 Engineering Design and Innovation

Executive Summary In about half a page, summarise the purpose of the project, the main points of your design, including its advantages and limitations, and any reasoning behind your design choices that you think is important. Include any key risks or resource requirements that are relevant to the project. You might like to finish with some statement of how you expect the design to perform, relative to the design objective function given in the project brief. Note: the executive summary does not usually contain bullet points or lists, nor does it contain headings or sub-headings. Purpose: build an autonomous delivery system Main points: I. Microcontroller (Arduino) II. Learning how to program the Arduino III. Designing the code Advantages: I. Easy the learn resources are readily available via the internet e.g. Video tutorials. II. Quick and easy operate and implement, plugged into the computer via a USB plug which then can be coded in a graphical user interface III. Satisfies the requirements of the project Disadvantages I. Price Reasoning: I. Why the Arduino? II. Why why not other microcontroller like the PIC? Risks? I. Our code fails to perform its functions correctly II. Fails certain test cases How will it perform? I. Hopefully very well etc

ENGG1000 Engineering Design and Innovation

Introduction Imagine a robot which can pick up and deliver an object, accurately, carefully and rapidly all on its own. This machine would be very useful and would be able to be implemented in a lot of various situations, providing a better alternative to manual human work. These systems are known as autonomous delivery systems, and are becoming increasingly important in everyday society, used in many industries from construction and manufacturing to military and medicine. These systems promote efficiency, speed, accuracy and flexibility when compared to the manual human counterpart. Although the system is limited to its design, in programming, circuitry and also its physical capabilities, different systems are designed to address specific problems and achieve specific purposes. In our case, we are to create an autonomous delivery system to delivery fragile cargo to one of four elevated positions. The team problem definition is as follows: For less than $80, design and construct a robust yet athletically pleasing autonomous delivery system. Initially it must be less than less 400 mm in height and carry light, fragile cargo to one of four raised locations as quickly and accurately as possible. This innovative design must distinguish between wirelessly transmitted frequencies to determine the final location of the cargo. The team was split into three subgroup, electrical, mechanical and programming, to be allocated more area specific tasks and problems. The programming sub-group problem definition is as follows:

Design and implement the code for the microcontroller (Arduino UNO) of the delivery system. Our code must enable the microcontroller to accurately distinguish between the different analogue audio signals received by the electrical input (produced by the control module). The code must then accordingly process the input to produce the desired output which would allow the electrical circuitry to power the mechanical system, such that the system will be able to deliver a fragile cargo to an elevated location quickly, correctly and safely.

Such example is the KIVA system. This system uses an innovative and breakthrough system to order, pack and deliver fulfilments. This system requires an operator to stand still, and the products which are to be accessed moves to the operator, thus increasing accuracy, productivity and speed in the workplace.

ENGG1000 Engineering Design and Innovation

Design Concept

1. Electrical Sound Detection The different frequencies produced by the control module must be detected and differentiated. The use of filters will minimise the effect of environmental noise on the system. Different electrical outputs (corresponding to the different frequencies) will be directed towards the processor for analysis.

2. Programming Signal detection and calculation The different electrical outputs will be detected and depending on the input, calculations will be made and the processor will determine the necessary running times of each motor. The processor will then return the necessary information into the electrical circuit to be redirected to the appropriate components

3. Electrical - Redirection Given the necessary information, the current and voltage will be converted to the appropriate levels (to provide enough torque and speed), and be redirected towards the appropriate motors to achieve the motion.

4. Mechanical - Motion Through an appropriate mechanical design, and the utilisation of the motors, the system must provide the necessary motions (forward and upwards) to deliver the fragile cargo to its allocated position. The design must also be able to support all of the circuitry, resulting in one, coherent, autonomous delivery system.
ENGG1000 Engineering Design and Innovation

Program Design With the complex tasks of required by the delivery system including: Wireless detection of an analogue signal Ability to differentiate between different signals Driving motors to for motion and lifting Precise motion (e.g. reach within a 100x100mm opening)

It was decided by our group that this would be achieved with the use of a microcontroller. We were first presented to consider the PIC microcontroller by out group mentor Prof. Vijay Sivaraman. After researching we found its price ($30+) would not allow it to be viable within our project budget constraints of $80. Furthermore we found that the PIC required a separate device to allow us to program it, hence raising the price to $50. This became obvious that we had to look for an alternative microcontroller. We finally decided on the Arduino Uno Microcontroller for various reasons:

It was reasonably priced, $32.50 It comes immediately programmable plugged into the computer via USB cable The programming language used is C, which is a familiar language to the members of our group and is also a language which aligns with the computing course we take The Arduino is a relatively popular microcontroller which makes resources readily available through the internet so we can quickly and easily find information on how to program it. E.g. A video tutorial series which guides us through almost everything we need to start programming the Arduino to setting us a circuit with the microcontroller

ENGG1000 Engineering Design and Innovation

The Arduino microcontroller was recommended to the project by Jaycar employee, a lab demonstrator The project coordinator, Dr. Julien Epps said we could use the Arduino

With the microcontroller chosen and purchase, our next step was to research how to use and program the Arduino.

ENGG1000 Engineering Design and Innovation

Pseudocode Through our code we have to enable the Arduino to process the and electrical input and output signal such that the electrical system would control the mechanical system to correctly deliver the fragile cargo an elevated location. To plan our design of code for the Arduino to control our autonomous delivery system we decided to first write in pseudocode to get a general overview of the specifications for the program:
BEGIN WHILE power is ON READ int voltageInput // analogue voltage is received from the electret microphone int audioSignal = voltageInput int signalToDrive = 10 // if 10V is produced from sound D0 int signalToLift = 20 // if 20V is produced from sound D1 int signalThreshold = 5 // in case we need a range int motorDrive = LOW // motors start with no power int motorLift = LOW int motorRelease = LOW IF (audioSignal >= (signalToDrive signalThreshold) AND audioSignal <= (signalToDrive + signal Threshold)) THEN WHILE (audioSignal >= (signalToDrive signalThreshold) AND audioSignal <= (signalToDrive + signal Threshold)) motorDrive = HIGH // supplies 5V to power wheel motors END WHILE motorDrive = LOW // turns off motor if signal changes/stops ELSE IF (audioSignal >= (signalToLift signalThreshold) AND audioSignal <= (signalToLift + signal Threshold)) THEN WHILE (audioSignal >= (signalToLift signalThreshold) AND audioSignal <= (signalToLift + signal Threshold)) motorLift = HIGH // supplies 5V to power lift motors // 5V needs to be amplified to 12V END WHILE motorLift = LOW // turns off motor if signal changes/stops motorRelease = HIGH ELSE delay(10) END IF END WHILE END // waits 10ms // activates mechanism to release the // egg once the lift reaches the opening

ENGG1000 Engineering Design and Innovation

In general the pseudocode states that whenever power is supplied to the Arduino (i.e. the delivery system is turned on) the Arduino would endlessly loop through the code. The code tells the Arduino to wait until a specific voltage value is received from audio signal received by a microphone. The Arduino would output a current to power certain motors depending on the signal received. E.g. the Arduino receives a signal of 17V, this is in the range of the signalToLift, the Arduino would output a current to the motor powering the Lift. The motor would be power for the interval the audio signal is received. All motors would be halted if the specific signals are not received by the Arduino. Problems to consider:

What is the output voltage of the Arduino? How will the audioSignal vary? Will the signal vary in voltages, frequency etc.?

ENGG1000 Engineering Design and Innovation

Relevant Knowledge What do you need to know to produce a detailed design for the design concept discussed in the previous section? How much of this do you already understand? (give details of this, including how you will use the knowledge in your design, if you know this already) What else remains to be researched? This section will include physical properties, circuits, equations, properties of devices you will/might use (e.g. motors), i.e. all of the detail you have so far. Might also give some details of how to test the components or circuits you intend to use. Around 2-3 pages.

ENGG1000 Engineering Design and Innovation

Risk Management What are the key risks faced by the project in general and in particular what are the risks posed by the design concept that you have chosen? For each one, what are your contingency plans? Think practically: what could go wrong on or before the testing day? Risks can certainly include non-technical risks (e.g. risks related to the project plan). Around 1-2 pages.

ENGG1000 Engineering Design and Innovation

Project Plan

ENGG1000 Engineering Design and Innovation

Project Plan - Details Project Briefing: 1. Individual Problem Definitions: All members within the team will produce an individual problem definition. These problem definitions will contribute towards the Team Problem Definition. Major constraints and goals were presented in these definitions. 2. Team Problem Definition Formulation: All team members contribute their problem definition in the formation of one coherent Team Problem Definition. 3. Submit Project Plan: A project Plan and timeline was developed and submitted to the Mentor to ensure that we keep to our time goals. Research: 1. Individual Research: Individuals were assigned to different research areas, and the gathered information was discussed at team meetings. Individuals also generated basic designs. 2. Discussion of Designs Individual designs were discussed in terms of positives but also constrictively criticised. Designs were further refined. 3. Research of Materials and components Materials and components were researched as part of a team. Possibilities and ideas were discussed and analysed. Allocation: 1. Formation of Sub-groups Sub-groups were formed on basis of previous experience/ interest and research done. 2. Sub groups formed group specific problem definitions. Construction: 1. The scissor was constructed 2. The chassis is constructed 3. The mechanical aspect of the system is integrated with the electrical and the programming aspects. Testing: 1. Acceptance testing is conducted 2. The system is repeatedly tested and minor readjustments will be made to fix any problems that arise. 3. Final testing to show our design is better than everyone elses

ENGG1000 Engineering Design and Innovation

Summary or Conclusions Summarise your design, discussing how successfully it addresses the design problem, referring to key aspects or innovations in the design that you feel are significant. Be sure to cover the main take-home messages. About half a page (definitely less than one page).

ENGG1000 Engineering Design and Innovation

References You must cite references in the text of the report. A list of references at the end of the report without this will not attract full marks. Very few references, or references with details missing (e.g. year, publisher or place of publication (for books), or date of access missing (for URLs)), will also not attract full marks for referencing.

ENGG1000 Engineering Design and Innovation