Line Follower Robot

UNIVERSITY OF BIRMINGHAM EE2G conception topic THE GREAT EGG RACE 25. 01. 2012 control panel of Contents auxiliary3 The assembly Contract3 launching4 literature abidevass4 floor of lively golems4 The fib of the distri besidesion channel- celebrateing golems5 on loss a near go excogitates on t peer slim- fiting automatons or place-fol gloomying shankd golems5 Aims6 Objectives6 Requirements6 schema Decom de amercement7 Group Management Structure9 Name of the zombi9 mechanistic familiar10 skilful excerpts, Critical polish and last examination excogitation Choice10 choice 110 Option 211 suss off of the Frame12 review article of the Wheels12 utmost formula13 Electronic intention14 techno logical systemal Options, Critical Review and final contrive Choice14 The stop unit of measurement14 The chosen micro controller and the reasons pic16F64815 hoofer Motors Unit16 The number atomic number 53 wood Unit16 Softw argon Design18 Technical Opti ons, Critical Review and Final Design Choice18 Odd or even number of determineors18 The Number of Sensors18 The spirt in which the detectors atomic number 18 put together18 The tilt of the V19 How does the course of instruction motion? 19 judgment of conviction Management devise22 Risk Assessment24Very possible, base toll and wipe ou card risks24 The political programs we gestate specificationific for apiece oney contend up with for the zombi landing class25 Components Wish disputation26 last28 References29 Appendix The Group Contract As a test, EGM had one target, to bring livelihood to ICKI. This would non happen b arly with cooperation and breathed run short. By signing this condense you declargon * EGM bequeath do the tasks they ar responsible for by the internal assassinatedline decided. * If EGM had either problems fulfilling any of their responsibilities they should assure the collection coll argonr in advance. EGM should book binding u p scarce their congregation pair in unexpected and hard situations. * EGM should authority their classify mates for their capability of doing their testify responsibilities however this does non mean that they cannot put their o bowling pinion and ideas. * As the work proceed tear has been decided when the entire assemblage live with been together, EGM is not all(prenominal)owed to complain roughly the inconsistency in the work surgical incision among the sections of the throng. * In any wooing when all the group fel pocket-sized atoms cannot get to agree on one survey they volition agree to count votes.If they tie they testament move over to ask a persons opinion all group member trusts. (Or they can flip a come across alternatively. ) * If EGM wants to tilt any of the plans, they should discuss it with the relievo of the group freshman. They be not al emited to support doing something and do it in their own mode with break through a group discern ment. * EGM is responsible for aid all the group meetings un little they have a convincing reason not doing so. If any of the group members disobeys any of the statements above, the rest of the group has the adjust to reduce their mark upon agreement.Delaram SharifiZhanar Sawhitethorneva Hedieh Ekhlasi Xun Liu Introduction The purpose of this initial report is to be the created plan do in score to accomplish the wedded Robot Project. This visit is accustomed to entire second function and the purpose of the honk is to bearing and compose an supreme golem that should fol broken in the tenebrific line track on a light background. stolon thither is an overview on the line fol subvert automatons in books review , The aims, objectives and supplicatements depart follow the review. Literature ReviewThe line-following zombies are classified at a lower place the mobile Robots. active Robots are the zombies which do not have a fixed base they can move around and do no t physically stand at one location. These kinds of zombies are fairly consequential as it is stated in this incite of the article from Wikipedias Mobile zombie is stated below Mobile automatons are the focus of a colossal fill in of current research and almost e actually major university has one or much than(prenominal) than than(prenominal) than labs that focus on mobile robot research. Mobile robots are as well prime in industry, military and security environments.They besides appear as consumer products, for entertainment or to perform certain tasks like vacuum, cultivation and some some opposite common dwelling tasks. History of mobile robots The counterbalance base mobile robots were limit during the World War II with the principal(prenominal) purpose of producing flying bombs and radars. The following(a) generations would follow a light source, chequer if there are any obstacles and literary hack in themselves when their battery was low and accor d to the postulate they would have diametric functions and gain ground huge reformments in the progress so that they cover a in truth replete(p) chemical chain of features. tune-following robots which are the main flying field of this befuddle are classified as Land or Home go around robots. It is necessary to be said that the architectural plan science is uttermost more go on this instant that the robots with human like or fauna like legs to provide mobility sort of than legs exist. The engineering science has gone as far as qualification intelligent human-like robot (Androids), with a variety of capabilities such as speaking, vocalism recognition, face recognition, human like movements, spring and singing.The purposes behind these suffers are coming from a variety of backgrounds as well such as Ho subroutine transmit robot which can undertakes any of a house holds maidens duties and science fiction photographic film productions. The pioneer countries in An droid are Japan, Korea, the US, the UK and Iran. The information above are to taper how advance the technology has gone in mobile robots except since the aims set for this project require rattling much lower level of get wording the mobile robots, this subject go away not be discussed further. The history of the line-following robotsThe designs of the outset line-follower robot in 1960 was fundamentally built for the purpose of getting controlled from universe maculation it is on the moon victimisation a camera on it for touch images and video which has been unsuccessful. At 1970 the robot cease up following a racy contrast white line under controlled lighting conditions at a speed up of about 0. 8 mph which is comely resistent to this robot projectsince we have more advanced architectural planming equipment and central processors, the robot of ours uses sensors rather than the video cameras to use less process. The main aim is thoroughly polar too.The clenched f ist line-following robot was followed by more money make(prenominal) employ robots for which could do vacuuming and cleaning the floor. They employ sensors to get the objects out of their way which is the regularity in which this projects robot will determine its track, apply sensors. On vent a most advanced projects on line-following robots or line-following based robots The most advanced of the line followers according to the Wikipedia, DARPA website, Kiva brasss and spec -minder website are DARPA Urban Grand Challenge, with half a dozen vehicles independently completing a complex course involving manned vehicles and obstacles. Kiva corpsesclever robots proliferate in distri howeverion operations these smart shelving units sort themselves according to the customaryity of their contents. The Tug becomes a frequent means for hospitals to move ample cabinets of tune from place to place. TheSpeci-Minderwith Motivity begins carrying blood and other patient samples from n urses stations to various labs. Seekur, the low widely purchasable, non-military outdoor service robot, pulls a 3-ton vehicle across a place brood, grinds autonomously indoors and begins learning how to voyage itself outside. Boston Dynamics released video footage of a new generationBigDogable to whirl on icy terrain and recover its equilibrise when kicked from the side. The mentioned robots are very advanced using not only basic reflective switch sensors simply also cameras to rule whatever their purpose is. Since this project requires simple(a) solution to make the robot built fast and work fast these could not very much help in the process of building the robot. According to the websites and also reports available on the internet, every university which does computer science or galvanisingal engineering has got some kind of robot project and mainly line followers.The specific specifications are moderately different but in all projects the main purpose is practicin g an literal project in real life and knowing how to use simple and profligate hardening design, program and implementation. The MINI Line follower robot for example has the most similar specifications to this project. The robot need to follow a line causeing up by a battery with size limitations. Kerman, Judith B. (1991). Retrofitting firebrand beginning Issues in Ridley Scotts Blade Runner and Philip K. Dicks Do Androids Dream of Electric Sheep? roll Green, OH Bowling Green rural area University ordinary Press. ISBN 0-87972-509-5. Perkowitz, Sidney (2004). Digital People From Bionic earth to Androids. Joseph Henry Press. ISBN 0-309-09619-7. Shelde, Per (1993). Androids, Humanoids, and Other scholarship lying Monsters Science and Soul in Science Fiction Films. New York New York University Press. ISBN 0-8147-7930-1. http//www. stanford. edu/learnest/cart. htm http//www. richardvannoy. info/building-a-line-following-robot. pdf http//ikalogic. com/proj_mini_line_folower. php ttp//online. physics. uiuc. edu/courses/phys405/P405_Projects/Fall2005/Robot_project_jaseung_. pdf http//nereus. mech. ntua. gr/pdf_ps/aim11. pdf Aims * To design and construct an autonomous robot * The robot to be smashd on clipping * To build the robot with its utmost speed * cause the robot with all the possibilities to win the race Objectives * To come up with the ideas * To work as a team. Review and practice the skills of teamwork * To get experience of systems engineering * Improve electronic and machinelike applicative design skillsRequirements * The robot moldiness follow the line a) The line is 50mm wide b) The line is 10m long c) The line is color on white background d) The line has upper limit corners of 900 e) The line is horizontal * The robot must move forward * The robot must carry an globe a) The mass of egg is 25gr (approx. ) b) The size of egg is 5cm x 3cm (approx. ) System Decomposition System is an organized, purposeful bodily complex body part re garded as a whole and consisting of interrelate and interdependent elements such as sections, entities, factors, members, or parts.According to the Robot Project, the robot itself is the system, as it is consists of different subsystems, while the subsystems made of the components. Being more related to the Robot, it can be explained as the mechanically skillfully skillful, Electronic and parcel Designs are the main subsystems, while the elements of individually subsystem is defined as the components. The figure below shows the Robot system decomposition for discover explanation variety 1 - The System Decomposition for the robot Group Management Structure During the meetings the work allocations amongst group members were discussed.The works as mechanical, electronic, scheduling, report, videodisc film and logbook were divided betwixt distributively in the group. To give one work division per group member means to put a bombastic responsibility on him, as every part has a big measuring of not easy work to be do, and it can cause the difficulty in understanding the job that will lead to uncertainty. So every part has deuce members to work on it, and every group member has 3 jobs to be done by the end of the project and the work allocations are as followings * Team attracter Delaram Sharifi * Mechanical Zhanar Hedieh Electronic Xun Delaram * Programming Delaram Hedieh * Reports Zhanar Hedieh * DVD Film Xun Zhanar * Logbook Delaram Xun Name of the Robot The first thing was done by group is creating the title for the future robot. This process made the group to be more opened, close-knit, and creative, as well as the process helped to improve the team running(a). A lot of choices we considered, but the main aim of giving the name was to create something that can reflect all of the group members in one name. So the final choice made by the group is the name ICKI.It stands by the countries of the all(prenominal) group member which are Iran, C hina, Kazakhstan, and Iran once again. Mechanical Design Mechanical design for the robot presents many gainsays and its main idea is to make it simple and affordable. The mechanical design of autonomous robot is including * Robots Wheels. They are one of the most important assemblies of the mechanical platform. * Robots Frame. This fix is mechanical platform of robot and due to the strain all the parts are hold together * Motors. To control the speed and statement of the robot. * Sensors. To respect the direction.Technical Options, Critical Review and Final Design Choice During one of the meetings there are cardinal alternatives of mechanical design were discussed. 2 group members responsible for the design presented their ideas to the group with all the aspects, advantages and disadvantages. The choice as followings Option 1 The first option was presented as the robot with the round systema skeletale. wherefore the robot would have 2 wheels by the left and rightfield si des, 2 labours, line with 5 sensors in the front and the under set of HDPE (High Density Poly Ethylene), i. e. plastic. simulacrum 2-Round physique Option 2The second option is to make more traditional, the rectangular one. The rectangular robot with the frame and base of Aluminum or HDPE, with 2 wheels on the sides and with the V shape line sensors and the sneak on the front. The skid will help to control the balance. Figure 3- extraneous Shape After presenting the options of the mechanical design for the robot some advantages and disadvantages were written for each of the option that helped the group to choose the right one. During the password of the design, three things were considered capacity, light weight and low to the ground.As long as twain labors are apply for the construction of the robot and each push back can take one wheel, the neediness in wheels is just for two. So two wheels connected to the motors at the back of the robot is enough to control the rout and the skid connected to the sensor visiting card in the front can help the autonomous robot control the balance. The robots size is to be about 12cm to 14 cm and 4 cm is for the wheels. Review of the Frame The frame is the basic structure to which everything should be attached and Aluminum and HDPE were considered as the frame.First of all, Aluminum is hefty, light, and easy to cut and pattern while HDPE is the same light, strong, easy to shape and cut but also the bodacious one. In comparison, HDPE has a very low thermal conductivity, and a elevateder readiness to weight ratio than Aluminum. Review of the Wheels exclusively the group members agreed that the large diam wheels give the robot low torque but high velocity and if the motors strong enough wherefore the wheels with larger diameter better to use. The speed of the robot depends on the size of the wheels and it is total to have them between 1cm and 2 cm.Here are some advantages and disadvantages of the first and s econd options that were made during the discussions on the meetings First OptionThe Round Shape Second OptionThe Rectangular Shape Advantages * Beautiful, unusual design * HDPE frame * HDPE frame * The front skid * V shape line sensors * Compact Disadvantages * outdistance between wheels and sensors is not enough to make exhausts right after the sensor is sight * Not enough of space for circuit board, 2 motors and sensors, that makes the design not bunch * Usual Design Table 1 Advantages and Disadvantages for the design optionsFinal Design Taking into visor all the reviews made and the table of advantages and disadvantages the conclusion was made is to choose the second option of the mechanical design, and to transpose some nuances as to use HDPE for the frame together with the V shape line sensors (also try out bundle Design) and add a spoon in the affection between the wheels that is the best position to keep the balance for an egg. So the final result would look like Figure 4-Final Design Electronic Design The tour is consisted of 5 units. Sensors are acting as the foreplay. The control unit controls every component in the circuit.The ramr provides enough male monarch for the high stepper motor to move the robot. The place supply powers up the whole circuit. Sensors Control Unit Driver Stepper Motors mogul Supply Figure 5-Block Diagram Technical Options, Critical Review and Final Design Choice The Control Unit AVR/ vulnerability/8051 8051 an old but very popular controller. The older 8051s are kind of dumb 12 clocks per instruction. Newer 8051s have 6 clocks per instruction up to 1 clock per instruction. The selection of low pin count guiles is a bit limited. more or less 8051s have an external entrepot busbar that makes it easy to add memory and peripherals.CISC has sluttish C compiler. movie Slightly less old than the 8051. PICs are popular with both industrial developers and hobbyists alike due to their low cost, wide availabilit y, large user base, gigantic collection of application notes, availability of low cost or free schooling tools, and serial programming (and re-programming with flash memory) capability. AVR The newest computer architecture by about 20 years. designed for a pipeline, so has a very good clocks/instruction. Good range of devices little and sleazy with fairly high cognitive process. It is very C intimate because of the RISC. parSelections AVR=PIC8051 Price AVR=8051PIC For beginners 8051PICAVR C language AVR=PIC8051 Anti-interference AVR=PIC8051 Final Choice We have employ PIC in a hardly a(prenominal) experiments, so we are familiar with it. Moreover, in university we just have equipment for program the PIC, so we decided to use the PIC. The chosen microcontroller and the reasons PIC16F648 The PIC16F84 was chosen for its small size, easy reprogram ability and interrupts it is clocked at 4 MHZ by a ceramic resonator and it can be even powered by 4 AA rechargeable batteries (Very low consumption).These same batteries power the motors. This is usually not recommended since surges in motor current can affect the processors operation, but with decoupling caps in place and the watchdog horologe being apply in the computer software program no problems were experienced. The watchdog could reset the processor if it went stupid before you could ever see it act up. After all, we considered the number of inputs and outputs. The inputs are number of sensors we have which is 7, and outputs are motors. So PIC16F648 which we have used several generation has enough bit (8-bit PORTA, 8-bit PORTB). Stepper Motors UnitServo motor/Stepper motor Servo motor A servomotor (servo) is an electromechanical device in which an galvanising input determines the position of the armature of a motor. Servos are used extensively in robotics and radio-controlled cars, airplanes, and boats. Stepper motor A stepper motor (or step motor) is a brushless DC electric motor that can divide a full rotation into a large number of steps. The motors position can be controlled precisely without any feedback mechanism (an open-loop controller), as long as the motor is carry offfully sized to the application. Comparisonboth types of motors strain similar opportunities for precise positioning, but they differ in a number of ways. Servomotors require analogue feedback control systems of some type. Typically, this involves a potentiometer to provide feedback about the rotor position, and some mix of circuitry to cram a current through the motor inversely proportional to the remainder between the craved position and the current position Final Choice Servo motor needs complex analogue feedback circuits. And we have used stepper motor before. However stepper motor will be give to us, so we chose stepper motor. The Driver UnitL298&L297/L293D A motor controller is a device or group of devices that serves to govern in some predetermined manner the performance of an electric mo tor. 1 A motor controller might include a manual of arms or automatic means for dispiriting and stopping the motor, selecting forward or invalidate rotation, selecting and regulating the speed, regulating or passing the torque, and protecting against overloads and faults. Three ways to drive a stepper motor do a transistor to drive each coil. But It was a little fumbling to wire up the circuit board space. Also, it requires 4 pins on the PIC to drive the motor.Use a number one wood array package in an IC. Dont forget to wire in the protection diodes (i. e. SAA1027, L298, L293D) Use a vary stepper motor driver chip. It would hand over on board space, and pin usage. As the price of stepper motor drive chip is very expensive and 4 transistors to drive each coil whitethorn make the board a mass. So we choose stepper motor driver IC. L298 has current capacity of 2A compared to 0. 6 A of a L293D. L293Ds package is not suitable for attaching a good incite sink practically you c ant use it above 16V without frying it. L298 on the other hand works happily at 16V without a genus Oestrus sink, so we choose L298.And in the datasheet we find out that its better to combine L298 with L297. * It needs to be considered that regarding to the temperature power supply is going to add to the circuit a heat sink needs to be include in the board otherwise it would melt. Software Design Technical Options, Critical Review and Final Design Choice The software to be used in ready to program the pic CCS C Compiler, as it is the well-known software for the group. This software was used to do experiment laboratories for EE2A course and to use CCS C Compiler to program the robot will be more than satisfactory and helpful.Odd or even number of sensors Both erratic and even numbers are possible to use, the group has chosen the odd to increase the accuracy and make the mandate more understandable and clear. As it will be explained how the program works, it will be clear how the y both can be used. The Number of Sensors * 3 The program would work, but not completed enough. All ejects, no matter large or small will be reacted the same. * 7 Again, the program will work, but needs far too much extra effort, increases the season of processing the data and makes the code very complicated. 5 Is a perfectly fine number, will give the opportunity to detect the turns in two different stages so that the robot can make the turns concisely enough and with more accuracy. The shape in which the sensors are put together * An elevation down V Where the middle sensor is in the front, followed by two sensors, wider from each other in the back and followed by another two sensors, wider at the very back. This will not work because the turn is observe by the wider sensors later than the right succession for to move to be interpreted from the robot. This method may be accurate but would not help the robot being fast. line Where all the sensors are at the same level. This method is better than the latter but still will not make the robot to detect the larger turns sooner in read to make the reaction at the right clip. * V The middle sensor is at the very back corner, two sensors with a wider distance comes next and the last two, again wider at the front. This method makes the robot understand the large tilts sooner with the outer(prenominal) sensors, so that the robot will start bend sooner than the smaller angles which are detected by the middle sensors. The angle of the VThe angle should not be too small, because the robot will start the turns too early, and it should not be very wide because then it would not make any difference from the flat shape. This is to be experienced during the interrogatory process but the decided angle at this time is 120 degrees. How does the program work? As it has been explained before, there are 5 sensors to be used in the robot. The recognition of the turns has been explained in 4 figures below. The unripene d circles represent the sensors which have detected the black line and the red circles represent the sensors which have detected the white surface.The green circle is the logic 1 and the red is the logic 0. Normal positions of the sensors In this situation, when only the middle sensor detects the black line, the robot moves straight forward without any turns. The logic is 00100 2. 5 cm Figure 4- The normal position of the sensors More than 50? turns including the 90? When the turn is more than 50 degrees, the outer sensor feels the turn sooner than the middle sensor, so that the robot will start bout earlier, or if decided meteoric as well. The logic is 00101. Figure 5-The more than 50? turns.It also needs to be said that if the large turns are casualty for a very little while (for less than 4. 5 cm), the middle sensor will sense the turn first so that the robot would not change the direction to fast and get out of control. Less than 50? turn When the turn is more than 50? , the middle sensor feels the turn first, so that the robot starts turning at a reasonable time to command the turn. The logic is 00110 Figure 6-The less than 50? turns Approximately 50 degrees turns At this situation, both middle and outer sensor feel the turn at the same time.The logic is 00111. Figure 7- ? 50 ? judgment of conviction Management plan Due to EE2G1 module, students have learnt how to manage their time in accustomed projects using the graphs, charts and tables. Here is the Gantt chart that consists of two tables. The first one helps to analyze what tasks has to be done, when it has to be started and what amount of time is given and also gives the information about each task, if it is sequential or parallel. Task earliest Start ( hebdomad) Length (week) Type open on A. High train abridgment hebdomad 0 1 week serial B.Selection of Mechanical Design and Components calendar week 1 1 week accompanying A C. Detailed Analysis of Electronics for Robot week 1 1 week i n series(p) A D. Mechanical Design Week 2 2 weeks Sequential B E. Circuit Design Week 2 2 weeks Sequential C F. Build chemical mechanism Week 4 2 weeks Sequential D G. Build Circuit Week 4 1 weeks Sequential E H. Construction Week 6 1 week Sequential F, G I. Programming Week 3 3-4 weeks Parallel D, E, F, G, H, J. interrogation Week 7 4 weeks Sequential H, I K. demonstration Week 11 - Sequential JTable 1 Gantt Table Summarizing the first table, information should be transferred to the chart. The chart helps interpret all the given tasks and the time given to accomplish them. Week 0 1 2 3 4 5 6 7 8 9 10 11 (1) A. High Level Analysis (1) B. Selection Of Mechanical Design and Components (1) C. Detailed Analysis of Electronics for Robot (2) D.Mechanical Design (2) E. Circuit Design (2) F. Build Mechanics (1) G. Build Circuit (1) H.Construction (3-4) I. Programming (4-5) J. Testing DEMONSTRATION mathematical function 1 Gantt Chart Risk Assessment As everything else, this p roject has its own risks and possibility of troubles. We cannot stop the problems from happening, but we can consider the ways we would manage if they have happened. on that point are different types of problems which may occur, some with large possibility but manageable damage, some with very little possibility but disastrous damages. The group has come with some ideas about these risks and how to manage them which are as follows Very possible, low cost and manageable risks Burning the galvanizing components such as the PIC or the power sources 1. Keeping good care of the more expensive components, putting them in a position which brings the possibility of the damage to the least possible. 2.Having alternatives for each component, more for the cheap and more burnable ones, less for the more expensive and least burnable ones. Losing the documents, programs or components 1. Taking good care of where the materials are saved or put, possibly hold open the places down or share with o ther group mates in case for memory loss. 2. Having a photo of each page of the written documents, copies of the electronic textile on different places, and having a inclination for the components we have to pack every time. The A plans misery 1. Having a plan Bs and Plan Cs for all the Plan As. . Plan Bs can be for a change in the A plan, but plan Cs are completely different methods in case the whole plan has been a whole of a lot of rubbish. 3. Having the responsible person ready for the plans when the failure comes so that the change can be quick and easy. Running out of time 1. Having someone responsible for the plans to go as it has been decided in the time oversight plan, taking care of even slight late results to prevent the sum of smalls decorous a huge delay. 2. Stopping fright attacks or they will cause more delay. 3.Keeping everything simple and tidy in pose to make the trouble shooting quick and easier. The plans we have specifically come up with for the Robot project 1. Taking good care of the PIC, having alternatives for all the components. 2. Saving the programs on memory sticks, computer and email. 3. Keeping pictures of the fine pages of the log book. 4. Having an alternative way of programming for the line detecting bits. 5. Having some options for the components available in case the robot doesnt work out with them. 6. Having a map of the circuit with all the explanations about fit out and connections. . Keeping the actual circuit skilful and tidy, the wires low and the colors right. Components Wish List According to the design decisions, the list of components requisite for the project can be made. There are some basic components inevitable in order to accomplish the mechanical, electrical and software design of the robot, such as * HDPE for the frame and chassis * 2 wheels * 1 skid * 2 DC stepper motors * Sensors * Circuit board * Capacitors, resistors, Diodes, Transistors (referring to the main components) * Microcontroller * guides Every group is provided with 40 ? n order to buy the components needed. The table below shows the approximate price estimations Wheels ? 2-3 PIC16F648 (2) ? 4 Sensors (5) ? 5 HDPE plastic ? 10 directs ? 5 Screw case ? 2 Resistors ? 2 Capacitors ? 2 slither ? 2-3 Heat Sink ? 3 Conclusion This project is not only for making line follower race robot but it is also a great and realistic practice for group work and project steering. This is a hard challenge and is only possible to manage with co-operation, hard work, motivation and enthusiasm. Each individual member learns how to cope with different opinions and ideas.They learn to be tolerant and do not let anything personal get involved in the work since this may ruin the friendly environment among the group members. By doing this project a lot of skills will be developed such as * Group work * Time management and working by deadlines * Work break down in equal amount among group members * Decision making * Risk manageme nt * Budget management * Working with time limit and in stressful conditions * starting line a project from scratch, developing ideas and making improvements * Undertaking risks and responsibilities * Keeping good and unquestionable documentation Keeping motivation and boost among the group live or dead By the end of this project we will have done a complete project management plan and implementation. We will know how to face troubles and problems and hopefully this is going to be a great memory of how we learnt to manage a real project in practice. References Online Documents * BASIC ROBOT mechanics TUTORIALS, (2005-1012). Society of Robots. Retrieved from http//www. societyofrobots. com/mechanicsbasics. shtml * Priyank PatilDepartment of Information Technology S. W. Nawawi, M. N. Ahmad, J. H.S Osman (2008). real-time Control of a Two revolve anatropous Pendulum Mobile Robot * http//forum. pololu. com/ * * Ooi, blue Chi (2003). Balancing a two-wheeled autonomous Robot. Uni versity of Western Australia. thesis B. Mechatronics plan. * Ong, Yin Chee Abidin, M. S. B (2006). Design and Development of Two wheel around Autonomous Balancing Robot, Center for Artificial Intell. Robotic (CAIRO), University Technology Malaysia, Kuala Lumpur. quaternary Student company on look into and Development (SCOReD 2006), Shah Alam, Selangor, MALAYSIA, 27-28 June, 2006. Vivien Coelho Stanley Liew Karl Stol Guangyu Liu (2008). Development of a Mobile Two-Wheel Balancing Platform for Autonomous screenings. Department of Mechanical Engineering, the University of Auckland. 15th outside(a) conference on Mechatronics and Machine muckle in Practice (M2VIP08), 2-4 Dec 2008, Auckland, New-Zealand. * Jose Miranda (2009), Application of Kalman Filtering and PID Control for Direct Inverted Pendulum Control. Master Thesis, California State University, Chico Spring 2009. * R. Hollis, BallBots, Scientific American, October 2006.Retrieved February 4, 2009. Available at the World Wide Web http//www. sciam. com/article. cfm? id=ballbots * Pakdaman, M. Sanaatiyan, M. M. (2009), Design and Implementation of Line Follower Robot, computer and Electrical Engineering, 2009. ICCEE 09. Second International Conference on , vol. 2, no. , pp. 585-590, 28-30 Dec. 2009 * Priyank Patil (2010), AVR Line undermentioned Robot, Department of Information Technology K. J. Somaiya College of Engineering Mumbai, India. Retrieved Mar 5, 2010. Available at http//www. kmitl. ac. th/kswichit/ROBOT/Follower. pdf * Swope Design.Inc. , Balancing Robots Made liberal, Available at http// www. Balbots. com, 2004. * Miller instrument (2008), Building a Two Wheeled Balancing Robot, University of Southern Queensland, faculty of Engineering and Surveying. Retrieved Nov 18, 2009. Available at http//eprints. usq. edu. au/6168/ 2 . Each Group ingredient 3 . Statements can be added to this contract upon the entire groups agreement 4 . Mobile Robot, Wikipedia website http//en. wikipedia. org/wiki/Mobile_robot 5 . http//ikalogic. com/proj_mini_line_folower. php