The final stage of our experiment:

• The web application is ready

• The path-finding algorithm is working

• There are nine clients represent nine nodes in the path.

• Three raspberry pis are configured
• Relays, magnetic sensors are connected to raspberry pis

Demo Recording:

Learning Outcomes:

1. Software implementation
2. Hardware implementation
3. Integration between software and hardware
4. Beyond technology: Better understanding of assistive technology

Challenges:

1. The web server was not working as expected
2. During the final stage of our demo recording, the transmitter was not working when connected through the relay.
3. The magnetic sensor was not working continuously.

Demo Video:

https://youtu.be/T9RwoxZqdi8

 

Feedbacks from Classmates:

Plus

1.   Interesting idea using vacuum robot

2.   Successfully manage domain system

3.   The system could have great potential

4.   Should public this research

5.   Expected i-robot behavior shows (wandering around)

6.   good analysis of the limitation

7.   good focus on people, not only technology

8.  good visual aid, demo, ppt, good explaining on the agile model, clear presentation 

Concern

1.   How to determine where is A, B, C stations at

2.   If robot wander around finding signals, can you still say it is the shortest distance

3.   What if Roomba wandering so long failing to find the signal

4.   Pace adjustment based on users’ need

5.   How user interact with robot

What has been achieved:

We had much progress in the past two weeks. We are able to control the power of the transmitter through the raspberry pi by using python code. We set up two sets of raspberry pi, relay, and transmitter.

We are also using magnetic sensors to identify when the robot is docked.

 

The followings are the links to the video demonstration of the successful control of the magnetic sensor by using raspberry pi and relay.

 

https://youtu.be/VCHiDI_G54c

 

 

https://youtu.be/P9cR1kqdQ_8

The code we use:

import RPi.GPIO as gpio

gpio.setmode(gpio.BCM)
gpio.setwarnings(False)

hallpin = 2
ledpin = 3

gpio.setup( hallpin, gpio.IN)
gpio.setup(ledpin, gpio.OUT)
gpio.output(ledpin, False)

while True:
if(gpio.input(hallpin) == False):
gpio.output(ledpin, True)
print(“magnet detected”)
else:
gpio.output(ledpin, False)
print(“magnetic not detected”)

What still needs to be done:

We are planning to build a web server to control multiple raspberry pi by using Javascript nodejs.

Meeting with Dr. Min:

Our group met with Dr. Min on Monday, November 19th. We updated the progress we made and also talked about our concerns. He provides us with another transmitter that we need for the experiment. We really appreciate Dr. Min’s support and mentoring.

On Thursday, November 1st, after we received all the parts we need for the experiment, our group starts to test and design the experiment. We made significant progress.

We connected relay, raspberry pi, and transmitter. We also implemented a simple code to turn on and off transmitter with raspberry pi.

Achievement:

1. Make relay control transmitter work. Raspberry pi controls relay turn on / off 1 sec each.
2. Code:

import RPi.GPIO as GPIO

import time

channel = 21

# GPIO setup

GPIO.setmode(GPIO.BCM)

GPIO.setup(channel, GPIO.OUT)

def transmitter_on(pin):

   GPIO.output(pin, GPIO.HIGH)  # Turn motor on

def transmitter_off(pin):

   GPIO.output(pin, GPIO.LOW)  # Turn motor off

if __name__ == ‘__main__’:

   try:

       transmitter_on(channel)

       time.sleep(5)

       transmitter_off(channel)

       time.sleep(5)

       GPIO.cleanup()

   except KeyboardInterrupt:

       GPIO.cleanup()

 

 

 

What we still need:

1. Research – programming w/ iRobot
   1. Sending infrared signal back to the server, the server turns on the transmitter 1 UNTIL the robot docks at the transmitter 1. Once robot docks at t1, t1 turns off, t2 turns on immediately.
      1. The only problem is, how to program the robot so it can leave t1 immediately after arriving it.
   2. How to monitor the robot when it DOCKED
2. Further – connect several raspberry pis with servers
3. Further –  programming real-time automatic transmitter turn on and off
   1. Web server

Team Members: Daeun, Shulin, and Yaqin

We received the parts we order from Amazon last week. We found out the male ones do not match with the transmitter. Because the transmitter requires a larger jack socket. 

 

We ordered another kind of connectors, and they seem not working either. We will meet with Dr. Min next Monday and figure out the solution.

There are a few assignments that are distributed to three of us:

1. Python programs that calculate the best route from the starting point to the destination –Daeun
2. The connection between the raspberry pi and the robot — Yaqin
3. Identify whether the robot is near certain transmitter — Shulin

We have an ideal map for the initial experiment, which will be conducted at Korean Square. The ideal map shows the path of the robot we are trying to achieve, from Yaqin’s office to the conference room.

In this, we ordered the parts for the first stage experiment, including relays and connectors.

We will start the first stage experiment from this weekend.

 

We had our weekly meeting on Monday, and we finished our proposal report.

We got some equipment from Dr. Min on Tuesday: an iRobot, several raspberry-pis, and transmitters. We will start the first stage of the experiment after the fall break.

We are not sure about the connection between relays and the transmitters. So, we will do some research over the break, and hopefully, we will have some update soon.

 

Proposal