Mars Exploration Mindmap

Description

Mind Map on Mars Exploration Mindmap, created by Adster 5 on 02/23/2021.
Adster 5
Mind Map by Adster 5, updated more than 1 year ago
Adster 5
Created by Adster 5 almost 2 years ago
15
1

Resource summary

Mars Exploration Mindmap
  1. Functional requirments
    1. Navigation
      1. Must be able to successfully naviagte the course and complete the extention task
      2. Detection
        1. Should be able to use the sensors given, in order to successfully complete the task.
        2. The code
          1. The code must function efficiently enough to allow for successful completion of the course.
        3. Solution
          1. Solution 2
            1. Solution 2 works in a very similar manner to Solution 1. This solution uses the color sensor too, including the ultrasonic sensor (refer to Diagram ‘A’). Just like in Solution 1, the color sensor has the same task of following the black line (Line following). This solution only has one method of solving any object obstructions problems. Using the ultrasonic sensor, the robot can obtain an understanding of anything around it. It does this by sending out ultrasonic waves and reading their rebound time from the object to the robot, in order to measure object distance. The method will involve the ultrasonic sensor to constantly detect if there are objects in its way, and when it detects one, it will execute a series of commands. If the object is ‘x’ centimetres away, then the robot must reverse, then scale the width of the object and then scale the length of the object. After that the robot will resume its course on the track.
              1. Much less adaptable and unique as compared to Solution 1.
            2. Solution 1
              1. Solution 1 incorporates a highly efficient method that can help the robot follow the path incorporated in the task and also dodge obstacles in two different ways. The solution to the problem allows for the use of the EV3 robot’s touch sensor and color sensor (refer to Diagram ‘A’). The color sensor will enable the robot to detect the grounds PCT value, and thus will be programmed to follow the black line’s PCT value. The touch sensor enables the robot respond to physical touch and will be programmed to avoid obstacles in two different ways. The first method of avoidance is that if the sensor is depressed then, the robot must reverse and then scale the width and length of the object. Then the robot will return back to its path using its color sensor. The second method works if the object in obstruction is light enough to be pushed by the robot. This will mean that the if the robot’s touch sensor is not depressed, then it will just continue the line following algorithm.
                1. Is long and cumbersome to make code for.
                  1. Chosen Solution: Solution 1
                    1. Solution 1 was chosen as the best fitting option for the solving of the task. This was selected because the solution was much more diverse in the problem solving sense, as to solution 2. This refines to the fact that solution 1 had two ways to get around an object obstruction, proving it more effect and faster than solution 2. Solution 2 has only one way of solving the problem, because it uses the ultrasonic sensor. The ultrasonic sensor can only act via virtual imaging (i.e., detecting objects via ultrasonic emissions); this means that solution 2 cannot detect the force of an object, making it less effective in the sense that it has to move around the obstruction no matter how heavy the object in front of it is. This will make the task completion slow because the robot will complete this cycle for all object obstructions. However, the chosen solution can detect if an object is light weight (because the touch sensor won’t be depressed) and a wasted of time.
                      1. Evaluation: Thus, an overall evaluation on the digital solution to the task posed. Although it might not have solved the main task at hand, the code only needs minor adjustments in order for it to work the way it was designed to.
                        1. Reccomendations: To solve the main task, the line following code must be modified a little further. A good recommendation would be that there can be more right and left turns made. Along with that the pace that the robot is going in, can be greatly reduced, to allow for the color sensor to read values correctly. These two improvements can allow for a properly functioning line following algorithm, which will in turn prove an effective solution to the main task posed. In terms of revision for this part of solution, the line following algorithm took many tests to tweak up the level of accuracy the turns needed. Due to little time though, this was not properly achieved. As mentioned in the success criteria, the plan was changed to have a physical entity to touch a button on the robot in order to start the celebratory dance. This was due to low time constriants, which could have been rectified by changing the color sensor detection sytem to hazy ambience.
            3. EV3
              1. Parts
                1. Sensors
                  1. Color Sensor
                    1. Digital sensor that can detect the color or light intensity of light that is read through the face of the sensor. It comes in three different modes - "color mode, reflected light intensity mode, ambient light intensity mode." This function helps in reading the different surfaces the robot interacts with, and then responding accordingly.
                    2. Gyro Sensor
                      1. Digital sensor that detects the rotational motion on a single axis. This aids in understanding the different angles of movement the robot ommits (or even the different angles that a part of the robot operates).
                      2. Touch Sensor
                        1. An analog sensor that can detect when the button is depressed and when it is released. This means that the robot can be programmed to respond to anything or object that it touches.
                        2. Ultrasonic Sensor
                          1. Digital sensor that can judge the distance of an object or physical entity in front of it. This is achieved by sending out high frequency sound waves and measuring how long it takes to reflect onto the sensor.This function allows for the detection of anything in front of the robot, thus allowing for one to code the robot to avoid it, etc.
                        3. Motors
                          1. Medium Motor
                            1. Includes a built in rotatoion sensor, but is smaller and lighter than the Large motor. This motor can be programmed.
                            2. Large Motor
                              1. A powerfull "smart" motor with built in Rotation Sensor. This sensor is mainly optimised to be the driving base for the robot. This can be achived by using and move commands in the EV3 software.
                            3. Other
                              1. Brick
                                1. The brick contains all the ports incuding necessary connections required for the robot to perform its tasks. The brick also has a screen with navigation buttons, to allow for physical user interactions with the robot.
                                  1. Ports and Connections
                                    1. There are 4 ports on the back (1,2,3,4) and 4 ports on the front (A,B,C,D). These ports allow for the individual connection of motors and sensors. There is also an addtional port on the front which is a direct connection port to allow the user to transfer commands from a device to the robot.
                          2. Constaints
                            1. Algorithmic
                              1. The code must comply with the features that are built in with the robot. The algorithmic conditions state that the course has to be completed in the order required (i.e: Line following, Object detection, etc.) and will fail if the conditions are not met.
                                1. There can only be one final solution for the task at hand
                              2. Functional
                                1. The function of the robot must follow the basic task/requirements, including the extention task.
                                  1. The problem
                                    1. The task implies that the robot must have an efficient code that is able to navigate the course given, and successfully make it to the other side. The robot must also be able to move any object in its path, out of the way; the robot could also determine if the object is too heavy and thus must be navigated around accordingly, without losing the objective of the task.
                                      1. The extention objective also encompasses that the robot, after navigating the course, must notify the researchers using a sound and lights display.
                                  2. Physical
                                    1. A major constraint is that the robot cannot be modified in anyway (sticking to the budget). In this manner, the course also cannot be modified in anyway.
                                  3. Criteria
                                    1. Self Determined
                                      1. SCD1
                                        1. This criterion outlines the specific actions that appear during the celebratory display. This includes visual, auditory, and physical traits. Visual traits include any onboard screen displays; auditory traits include any sound outputs for the robot to perform; physical traits include any movement the robot does to attract attention (e.g: dance).
                                      2. Prescribed
                                        1. PC1
                                          1. PC1 represents the fact that the robot must be able to follow the given line/path and complete it successfully. This elaborates on the main objective of the mission and solely focuses on ‘Line following’ code.
                                          2. PC2
                                            1. PC2 describes that the robot must be able to navigate around an object that obstructs its path. This is the second part of the task which states that “the robot either needs to move objects off the path or navigate around them and return to path as quickly possible. This will Prescribed criteria will also determine the two possible solutions to the task posed.
                                            2. PC3
                                              1. PC3 states that there must be a celebratory display for successful completion of task. This criterion outlines the extension task, which will be assumed prescribed for this project. The extension task includes – performing a signature movement with accompanied lights and sounds, in order to grasp the researcher’s attention of the successful completion of the task.
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