Demo Video:

Final Realisation

TrackerBot : The ultimate rechargeable weeding robot for all applications

Gardening | Farming | Maintenance

With TrackerBot, gardeners can now perform weeding without the monotony and frustration of weeding while environmentalists can breathe easily with a chemical-free solution to weeding.

1. IMPROVE WORKING CONDITIONS - TrackerBot allows remote weeding to reduce workload and danger

2. LOWER COSTS - TrackerBot is reduced pesticide and maintenance costs as it weeds mechanically

3. FEWER MAINTENANCE WORRIES - The robot is entirely electric, so you no longer need to spend time on the maintaining tools

Our Team: Jabez Tho, Hans Delano, Ahmad Rifaaie, Lee Wei Juin

Mentors: Mr. Rodney Dorville and Mr. Tune Chien Jung

Week 1

• Module Intro
• Github Set-up
• Introduction to Markdown

Week 2

Micropython Micro-controllers: esp32, microbit.

Types of Micropython IDE: https://thonny.org/, https://codewith.mu/

What?:

• Intepreted programming language created by Guido van Rossum
• First released in 1991
• Available in all platforms

Why?:

• code readability with its notable use of significant whitespace
• object-oriented approach
• aims to help programmers write code clear, logical code for small and large scale Project

Homework Assignment: https://github.com/weijuinlee/EA_Projects

Week 3

Continuous Track Vehicles:

• Drive Wheel Motor Torque Calculations
• Environmental assumptions

T100

Main Parameters:

• Material: Aluminum Alloy

• Surface treatment: sandblasting oxidation

• Color: Black

• Track: Engineering plastic

• Size: About 18520060mm(LengthwidthHeight)

• Weight: 0.65kg

• Design load: 5kg

Motor parameters(25mm 9V 150rpm DC Motor, has hall sensor):

• Output speed: 150±10%rpm

• No_load Current: 200mA (Max)

• Stall current: 4500mA(max)

• Stall torque: 9.5kgNaN

• Rated speed: 100±10%rpm

• Rated torque: 3000gNaN

• Rated Current: 1200mA (Max)

• Noise: 56dB

• Working voltage: 9V

• Outside Shaft Length: 14.5mm

• Shaft End Play: 0.05-0.50mm

• Screw Size: M3.0

• Dia. Of Shaft phi4mm, D3.5

• encoder: 2 pulses/circle

Equipment List:

1. 1 x Chassis bracket

2. 1 x Track (pair)

3. 2 x Driving wheels

4. 4 x Wheel drive

5. 1 x Motor (pair) (with encoder)

Assembly of T100:

Week 4

Flashing of micropython on ESP32 and controlled LED: https://learn.adafruit.com/micropython-basics-blink-a-led/blink-led

Week 5

ESP 32 documentation brief.

Week 6

Tutorial on mechanical drawing on Fusion 360.

Week 7

Class on Power Management.

P = IV(W)

How do we measure?

• Voltmeter in Parallel

• Current in series

• Power Meter

Non- Evasive methods

• Clamp Meters

• Shunts

Rectification

AC-to-DC Conversion

• 230V AC to 3.3 ~ 24 DC

  Linear Rectification

  • Simple, cheap

  • Losses

  • Weight

Switch Mode Power Supplies

Main Input -> Input rectifier -> Inverter "Chopper" -> Output Transformer -> Output rectifier and filter -> DC Output / Chopper Controller -> Inverter "Chopper"

#EEVblog90

Linear Power Supply

• Simplicity
• Quiet Operation and load-handling capacity
• Low cost
• Range of application
• Number of Outputs
• Average Efficiency

Switch Mode Power Supply

• High Efficiency
• Low cost and size
• Complicated design
• Cost compared with Linear Rectification

Typical DC Power Supply

• Large mains transformer provides isolation
• Rectifier converts AC to DC using diodes
• Filter circuits (using capacitors) remove variations/ ripple in the signal producing a smooth DC
• Regulators maintain a constant voltage level

Series Transistor Regulator Circuit

• Uses transistor and DC biasing to set output voltage
• Emitter Follower circuit has unity voltage gain, hence with suitable biasing a stable output voltage can be obtained
• Input voltage must be sufficiently high enough to get the desired output voltage (approx. 0.7V is dropped across base and emitter terminals)
• Problems
  • Heat from power dissipation(I*V)
  • Only applicable in low power output applications
  • Weight of isolation transformer

Examples: Travel adapters

Switch Mode Power Supplies

• SMPS becoming the more common ac-to-dc supply
• Use a semiconductor switching technique
• Consists of a power switching stage and a control circuit with output filtration
• Advantages:
  • Higher efficiency with low power dissipation
  • Can offer step-up or step-down and negation of input voltage

Buck Switch Mode Power Supply

• Efficiently reduce DC voltage from a higher voltage to a lower one
• Does not change the polarity
• A DC-to-DC converter and a switching regulator
• Boost converter needed to boost voltage higher

Application of SMPS

• Buck Converters

  • Efficient method to convert High DC to Low DC voltages
  • Cost effective

• Boost Converters

  • Converts Low DC to High DC voltages
  • Most commonly used in Li-ion battery banks (3.74V to 5V)