Send the link below via email or IMCopy
Present to your audienceStart remote presentation
- Invited audience members will follow you as you navigate and present
- People invited to a presentation do not need a Prezi account
- This link expires 10 minutes after you close the presentation
- A maximum of 30 users can follow your presentation
- Learn more about this feature in our knowledge base article
Do you really want to delete this prezi?
Neither you, nor the coeditors you shared it with will be able to recover it again.
Make your likes visible on Facebook?
You can change this under Settings & Account at any time.
Transcript of LTIbros IND.
M. Zahid Erdoğan (Microwave)
Mustafa Çakır (Computer)
Kerem Demirtaş (Telecom)
Ömer Can Dabak (Microwave)
Founded by 5 friends on September,2013 to develop and sell autonomous robots which are capable of achieving some predetermined tasks
Our first project is a robot playing curling against similar opponents
Project Definition and Specifications w.r.t. Standards
A robot will be able to play curling against similar opponents.
All the dimensions of game field and rocks are determined.
General rules of the game are decided, but rules didn't make serious impact on our design.
Robot can be directed between shots, but not during shots.
Robot must be self contained.
Determining the positions of rocks, and robot itself
Capable of moving freely on the game field
Deciding where robot should go and where it will shoot without human help
Problems & Objectives
Adjustable Firing Power
Aiming Properly (Accuracy)
Positions of all items
Having not any hardwiring
Maximum 1.5 meters shooting range
Obtaining the data of distances of the rocks, game field and robot with camera
Highly maneuverable movement system
Customer will get:
A robot, game field, and 8 rocks
Robot will connected to the PC or Smartphone via Wireless
Robot will either govern itself or get commands from user
3-4 hours operation time
Objectives & Goals
Test & Safety
Project Management Team Organization
Introduction, Objectives, Goals, Deliverables, Standards
General Solution Procedure
Motor Driving by Microcontroller
Jobs needed to be done:
· Taking initial frame from camera
· Mapping distorted frame of game field to real game field
· Rock identifying by color detection
· True locating of coordinates of rocks and robot
· Storing obtained data
· Feedback positioning of robot:
- Taking frames continuously
- Processing these frames and sending obtained data to software part
Main Solution Method
- Perspective correction
- Color intensifying
- Positioning by circle finding
Fast (3 seconds)
Scaled Sample Game Field Frame
Future Works for Positioning
- Aims to be achieved:
3D objects (real rocks) for circle finding
Perfect color matching
- Jobs to be done:
Creating a second algorithm for feedback mechanism to control robot’s position
Generating code to take images from camera faster and increasing the samples of images
Aim: To control the subsystems in the robot for winning the game.
- Software in the computer
- Software in the microcontroller
Software In The Computer
Aim: To find a suitable firing location, angle and velocity. According to these values, localizing the robot by controlling motors.
Input: Localization Data about rocks and our robot from positioning system
Output: Speed Values of the motors in the robot.
Operating Platform: Microsoft Windows based PC
Tools: Microsoft Visual Studio 2013 C++
Software In The Microcontroller
Aim: According to speed values, produce PWM signals to motor driver
Input: Speed values of the motors from the wireless adapter
Output: PWM Signals to motor driver
Platform: Arduino Uno
Tool: Arduino IDE v1.0
Aim: Placing the robot in determined location.
Inputs: Positioning data of the robot and determined values from previous part.
Outputs: Speed values of the motors
Control of the Robot
Aim: To find an optimal values which will maximize our points in order to win the game
Input: Localization data of the rocks on the game field
Output: Firing location and angle of the robot also firing velocity of the rock
Determining the firing location ,angle
and velocity values
Aim: To localize the rock to desired position in the game field.
Input: Distance value between target and robot location.
Output: Firing the rock with given velocity
Items: 1 DC motor and some mechanical components
Photo of our Prototype Firing System
Aim: Control robot without handling
Input: Positioning system outputs
Output: Movement system input
Items: Transceiver module and R232 to usb converter
Aim: to change position of the robot
Input : sent message from computer via wireless module
Output: moving robot to desired location
Items: Dc motors, wheels and etc.
Test & Safety
Subsystems of the Project
Tasks That will be Completed
February: Positioning System, Firing System, Power System
March: Movement System, Wireless Communication
May:Integration of subsystems and necessary tests
June: Final Presentation
Risk: Time Delay in process
Solution: Flexible time plan
Risk: Probability of fail in solutions
Solution: Working to fix it with experience
Another Solution Technique