RoboPro: Marble Sorter Capstone Project (incomplete)

For the Robotics Marble Sorter Capstone Project, my group and I constructed machines to sort marbles into various categories by size, transparency, and magnetism. We constructed two different iterations of our system. The achievements I am claiming are listed as follows:

Process Achievements: (4)

- "Organize it!"
    This blog post is organized according to achievements, with process achievements preceding product achievements, and with each achievement followed with information to support it. 
- "I've made a Few Special Modifications"
     After completing the initial three-marble design, my group and I decided to add the capacity to sort a fourth marble in our system. We elected to sort in a red-glass marble, and elected to use an lamp and photo-resistor to gauge marble transparency and determine the type of marble that enters a certain part of the system.
      Our initial design of this feature extended the track followed by the wooden marble in our system, as the red marble followed the same path. We attempted to utilize a system where the marble would travel down a track and the sensor would sense its identity while ti was in motion, and then move a pair of hoppers at the end of the track before the marble reached it. unfortunately, the photo-resistor was unable to sense the marble while it was in motion, and the design had to be redone to combat this.
     As we re-evaluated the design, we encountered another issue: the number of motor sockets at out disposal. Our system had to function with three electromagnets, a lamp, and a motor, which was already greater than the four sockets at our disposal. We couldn't afford to implement another motor to stop the marbles at the sensor, and we were forced to find a solution to this problem.
     The second design of the transparency hopper that I constructed was able to combat both the marble stop issue and the motor quantity issue. By using the spacer between the two hoppers, and having the marble rest on it in a gap between the sensor and the lamp, the motor that moved the trays would also stop and release the marble.

     Quote origins: Star Wars Ep. 4 "A New Hope." When showing Luke Skywalker and Obi-Wan Kenobi his ship, the Millenium Falcon (Which is located in the Mos Eisley Spaceport of Tatooine at the time), Han solo is regaled with remarks from Luke about the "junky" look of his ship. Han responds to Luke's statement and reassures him with "I've made a few special modifications"

 - "Final Implementation"
     Hardware:

In this part of the system, pictured above, we see the railing that separates large marbles from small marbles. While small marbles continue inside of the railing, the rails on the side are closer together than the diameter of a large marble, having it travel above and into a hopper. Small marbles fall through a hole inside the tracks.

In this second part of the system, the remaining small marbles are separated based on magnetism. While glass and wood marbles continue along the straight path, metallic marbles are pulled to the side by a series of electromagnets.

The final separation system utilizes a lamp and a photo-resistor to separate a red-glass marble from a wood marble. While it was initially buggy, refinement led to a successful mechanism. It utilizes the most programming.

     Programming:

The program I constructed for our model was built to activate all of the electronic functions of the system and control the photo-resistor system of glass/wood sorting. The program begins by activating motors two, three, and four, which are the three electromagnets. The program then continues into a test for light passing through a marble into a photo-resistor, which determines the presence of a marble at the light detection slot. The program then receives data from the photo-resistor on the transparency of the marble, and moves the motor #1 accordingly, one direction for glass and one for wood. 

- "Final Implementation: Video!"

     Version 1:

     Version 2:


Product Achievements: (15)

- Sorting Speed 7: Process 15 marbles in less than 30 seconds
     7 Achievements
- Marble sorting: 4 types:
     7 Achievements
Systems:
     1 Achievement (Motor)

Total Achievements: 19

Robopro: 3_1_7 Machine Control Design

For the final worksheet on Robopro, my group and I were given a selection of tasks from which to choose, and we were tasked with completing the challenge we were faced with.  My teams selected the "elevator" challenge, which was stated to have the hardest difficulty on the worksheet. The task involved creating a three-level elevator that would be able to travel between levels in any combination, and have signal lights on each floor to indicate on which the level the elevator is located. While the mechanics were relatively easy, the program and the wiring were quite tedious, but eventually my team and I succeeded.

Robopro Extra: multi-level light system

After the branch functions assignment, I was able to expand my use of the interface to develop a program that would take in analog inputs from a potentiometer and interpret the potentiometers inputs as one of eight different light levels of a lamp. I created a pyramid-style program that distributed the analog input to multiple variables, with a repetitive loop to alter the lamp power as the potentiometers input changes.

Robopro: 3_1_6 Open and Closed Loop Systems

In the worksheet 3-1-6 My group and I were introduced to programs that had definite end points versus no definite end point. Through the construction of a short repeating motor vehicle track, we were able to view the differentiations of the two systems, including accuracy and program simplicity.

Robopro: 3_1_5 Variable functions

In the variable functions worksheet, my group and I were introduced to the variable blocks of the Robopro interface, and their usefulness. In the worksheet we focused on "count" as a variable, although other, physical, inputs could be easily utilized as a program variable.

Robopro: 3_1_4 Branch Functions

In the third worksheet, my group and I were introduced to switches in the Robopro interface. We were able to utilize branch functions to allow for multiple results from a single program, a facet of the Robopro programming unit that would become integral to our efforts later in the class.

RoboPro: 3_1_3 Basic Programming

In the second worksheet; basic programming, my group and I were introduced to the core functions of the Fishertechnik interface, and the programming interface that we would use for the duration of the school year. We were able to utilize basic motor functions, and established the use of time delay as well.

Robopro: 3_1_1 Inputs and Outputs

In the first RoboPro worksheet, my group and I were tasked with studying inputs and outputs, varying from analog to digital. We were instructed as to the nature of analog measurements vs. digital measurements, and were able to test and utilize potentiometers and switches to test both. We were also able to expand upon this with the testing of photo resistors and photo transistors. We were unfortunately unable to utilize an NTC Resistor, limiting our ability to complete certain parts of the packet.

Fly Your Ride! 2014

Last year, I endeavoured to participate  in the San Diego Aerospace Museum's "Fly Your Ride" competition, and succeeded in doing quite well in the middle school. While not an actual class assignment, I still pursued the competition this year, in an attempt to do well in the High school bracket.

The competition "Fly your ride" is designed on the intent of having students design "roadable" aircraft to compete against one another in a test of effectiveness. I initially submitted a file to the competition administrator to display mmy planned model and to request entry into the competition. It depicted expected dimensions and pricing of my planned roadable aircraft, as well as various other pieces of information about the aircraft.

After being accepted into the competition, I was set to begin work on my aircraft. I initially set to work constructing the fuselage, which was composed mainly of balsa wood. I planned to construct the rest of my model out of balsa wood as well. I used LEGO bricks as clamps during the gluing process.

After a period of time away from my work due to school work and other conflicting obligations, I was able to complete work on the aircraft. I created my own airfoils and constructed a four-wheel landing gear system.

After completing work on the primary airfoil and the land gear, I was able to attach the rear airfoil, make final modifications, and effectively complete my aircraft.

The competition was to be a number of rounds, in which teams would bring up their vehicle and release it from the top of a ramp. Teams attended from all across San Diego, including teams from La Jolla high and High Tech High.

 
 I personally did not succeed in placing this year, but was able to consult with a number of experts on the subject about my aircraft, and felt that the experience was quite beneficial.

Toothpick bridge challenge

For the toothpick bridge challenge, my team and I were faced with the task of constructing a bridge to span a 12-inch gap out of toothpicks. We decided on a triangular design with similar bases at the ends to provide support.

The bridge utilized a beam below to keep it from falling in on itself, anf supprts at the ends of the bases to keep it from falling in on itself. After a very small amount of weight was added, barely smaller than a roll of duct tape, the bridge compacted in on itself and was exhibiting extreme stress. My team and I decided to create a new bridge to combat the issues we had seen, such as:
- The height of our original model was too tall, raising the center of gravity and making it more prone to falling
- The design was not sturdy enough, and required reinforced beams
- The bases were not large enough, and required more surface area and a wider bottom to disperse weight and keep from falling over.

We were able to fix all of the issues that were presented to us by using beams of three toothpicks each, and by redeisgning our bases with a wide trapezoidal design..

the new bridge was quite heavy for a toothpick bridge, but was surprisingly sturdy. Easily spanning the gap, the bridge was able to hold over 400 AA batteries, and the bridge itself weighed roughly 81 grams. The end result was spectacular to witness, and extremely gratifying.

Our bridge finally broke due to stress on the glue bonds. Strangely enough, the bridge broke due to the glue failing, and no actual beams were broken in the process. It was able to hold roughly 410 batteries