EPS@ISEP | The European Project Semester (EPS) at ISEP

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report [2016/06/22 12:56] – [3.2 Time] adixt69report [2016/06/22 14:17] (current) – [4.1 Introduction] team1
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 ===== Acknowledgement  ===== ===== Acknowledgement  =====
 +
 +We would like to thank all EPS-teachers for their support, feedback and guidance of our project.
 +For helping us with the prototype and moral support we would like to thank Puria Esfandiari.
  
 ===== Glossary ===== ===== Glossary =====
 <WRAP box 400px> <WRAP box 400px>
 ^ Abbreviation ^ Description ^ ^ Abbreviation ^ Description ^
 +|ABS|Acrylonitrile butadiene styrene|
 +|DC|Direct Current|
 |EPS|European Project Semester| |EPS|European Project Semester|
 +|ISEP|Instituto Superior de Engenharia do Porto|
 +|IR|Infrared|
 +|PCB|Printed Circuit Board|
 +|R&R|Responsibility & Responsible|
 +|PESTLE|Political, Economic, Social, Technological, Legal and Environmental|
 |STEM|Science, Technology, Engineering, Mathematics| |STEM|Science, Technology, Engineering, Mathematics|
 |SWOT|Strengths Weaknesses Opportunities Threats| |SWOT|Strengths Weaknesses Opportunities Threats|
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 ==== - Presentation ==== ==== - Presentation ====
  
-Our team consists of Adam Dziomdziora, Daniel Nicolae Sin, Fraser Robertson, Mikko Mäntysalo and Nona Pattiselano. We are five students with the following study fields: Information Technology, Electrical, Electronic and Energy Engineering, Power Systems Engineering, Mechatronics and Industrial Design. We are an international team coming from Poland, Scotland, Finland, Romania and Belgium. Our team name is Primeira EPS tribo. We are collaborating with all our knowledge to bring this project to a good end. Our main team values are support, fun and memories.  +The team consists of Adam Dziomdziora, Daniel Nicolae Sin, Fraser Robertson, Mikko Mäntysalo and Nona Pattiselano. We are five students with the following fields of study: Information Technology, Electrical, Electronic and Energy Engineering, Power Systems Engineering, Mechatronics and Industrial Design (see Table 1). We are an international team coming from Poland, Scotland, Finland, Romania and Belgium. Our team name is Primeira EPS tribo. We are collaborating all our knowledge to bring this project to a good end. Our main team values are support, fun and memories.
 ==== - Motivation ==== ==== - Motivation ====
  
-The development of this robot is an opportunity for us to learn more about robotics and programming. We already have some limited experience with Arduino, but have never touched upon a project of this size. As future engineers this project is very interesting as robotics is an up and coming market. Our specific skills acquired in our different studies comply with this project. The development of a drawing robot while regarding marketing, project management, sustainability and ethics still remains a challenge. It is never easy to work in a team. This team consists of people with different cultural and study backgrounds, making it even harder. This is however also an advantage. We have the chance to learn a lot from each other and in sharing our knowledge work towards our goal: bringing this project to a good end.+The development of this robot is an opportunity to learn more about robotics and programming. The team already has some limited experience with Arduino, but has never touched upon a project of this size. As future engineers this project is very interesting as robotics is an up and coming market. The specific skills acquired in our different studies comply with this project. The development of a drawing robot while regarding marketing, project management, sustainability and ethics still remains a challenge. It is never easy to work in a team. This team consists of people with different cultural and study backgrounds, making it even harder. This is however also an advantage. The team has the chance to learn a lot from each other and by sharing their knowledge work towards a common goal: bringing this project to a good end.
  
-The main goal of our graphbot is to introduce girls to technology from an early age. This could inspire them to get into technology and later study in a STEM-field. Besides that the robot should be a creative tool to express yourself. Both girls and boys could use the graphbot. People who are limited in their movement could also use our graphbot to create art.+The main goal of the graphbot is to introduce kids to technology from an early age. This could inspire them to get into technology and later study in a STEM-field. Besides that, the robot should be a creative tool to express yourself. Both girls and boys could use the Graphbot.
 ==== - Problem ==== ==== - Problem ====
-The task is to design, develop and build a robot that creates art. The team decided to build a drawing robot commanded by voice. The robot should be able to change the pen it is using in order to be able to draw in different colours. The robot has to go forward, backward and change the direction. The area of drawing is limited to the paper. The robot is intended for children to introduce them in technology+The task is to design, develop and build a robot that creates art. The team decided to build a drawing robot commanded by voice for children. The robot should be able to change the pen it is using in order to be able to draw in different colors. The robot has to go forward, backward and change the direction. The area of drawing is limited to the paper. The robot is intended for children to introduce them in technology.
 ==== - Objectives ==== ==== - Objectives ====
  
-Our objective is to develop a drawing robot for children. The robot has to be able to recognize simple voice commands and respond accordingly in a timely manner. The robot should be user-friendly and childproof. It has to be easy and clear how one must use the robot. The drawing area should be detected automatically, ensuring the robot does not draw on the floor or table. The user should be able to change the drawing colour with ease.  +The objective is to develop a drawing robot for children. The robot has to be able to recognize simple voice commands and respond accordingly in a timely manner. The robot should be user-friendly and childproof. It has to be easy and clear how one must use the robot. The drawing area should be detected automatically, ensuring the robot does not draw on the floor or table. The user should be able to change the drawing color with ease.
 ==== - Requirements ==== ==== - Requirements ====
-The robot should +This project is part of EPS@ISEP2016. The European Project Semester is a program that brings students together from all over Europe. The program was designed for engineering students, but others can participate as well. The students are divided in small groups from 3 to 6 students preferably from different countries and with another study field [23]. Every group is given a different project to work on during one semester. There are classes that support the project and help to develop it. These topics of these classes at ISEP are: marketing, sustainability, ethics, project management, communication and an Arduino crash course. The students are supported by the EPS-team which consists of teachers from various study fields. 
-  - Move on a plane; +The team were given certain requirements that our robot should fulfill by the EPS-team [1]. 
-  - Work with distinct colours; + 
-  - Be aesthetically pleasing; +The robot should: 
-  - Allow changing the drawing paper; + 
-  - Have as maximum dimensions 1.00 × 1.00 × 0.80 m; +• Move on a plane 
-  - Reuse the provided materials; + 
-  - Use low cost hardware solutions; +• Work with distinct colors 
-  - Use open source software; + 
-  - Comply with the Machine (2006/42/CE 2006‐05‐17), Electromagnetic Compatibility (2004/108/EC 2004-12-15), Low Voltage (2014/35/EU  2016-04-20),  Radio  Equipment (2014/53/EU 2014-04-16) and Restriction of the use of certain Hazardous Substances (ROHS) EU Directives.+• Be aesthetically pleasing 
 + 
 +• Allow changing the drawing paper 
 + 
 +• Have as maximum dimensions 1.00 × 1.00 × 0.80 m 
 + 
 +• Reuse materials if they are provided 
 + 
 +• Use low cost hardware solutions 
 + 
 +• Use open source software 
 + 
 +• Comply with the Machine (2006/42/CE 2006‐05‐17), Electromagnetic Compatibility (2004/108/EC 2004-12-15), Low Voltage (2014/35/EU 2016-04-20), Radio Equipment (2014/53/EU 2014-04-16) and Restriction of the use of certain Hazardous Substances(ROHS) EU Directives.
 ==== - Functional Tests ==== ==== - Functional Tests ====
  
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 ==== - Introduction ==== ==== - Introduction ====
  
-This chapter shows the work done as a group when researching products already on the market which could be similar to the final design and ultimately selecting the path that we thought would be most beneficial to the team and the customer. The team researched the existing products in this market and compared them. In the conclusion the choices that were made regarding our project are described.  +This chapter shows the work done as a group when researching products already on the market which could be similar to the final design and ultimately selecting the path that would be most beneficial to the team and the customer. The team researched the existing products in this market and compared them. In the conclusion the choices that were made regarding the project are described.
  
-A drawing robot is a machine that can draw. In our project the team will use a pen or marker to create art. In other robots, the use of paint is invloved. The robot should be able to hold a pen and move it over a surface. The input could be given by various actuators. It could be by an existing drawing, a picture or a person controlling it. In some cases the robot draws on its own. +A drawing robot is a machine that can draw. In the project the team will use a pen or marker to create art. In other robots, the use of paint is involved. The robot should be able to hold a pen and move it over a surface. The input could be given by various actuators. It could be by an existing drawing, a picture or a person controlling it. In some cases the robot draws on its own.
  
 ==== - Existing products === ==== - Existing products ===
  
-When researching existing types of drawing robots, the team discovered that there are many of these types of devices already on the market, which are being used by artists, companies and by the public and are intended for people interested in robots or the arts.+Another choice that had to be made was the type of input the user would use to command the robot to perform certain tasks. There are many ways in which humans can interact with robots, but the team researched four of the most popular and easily usable command methods for the project. The method of communication that will be used is sound. Whether it be words, tones or decibel levels, sound is the easiest way to communicate as the user can easily express what they are attempting to say so that other humans or robots can understand and respond in the correct manner.
  
-One of the most commonly used products of this kind that is used mainly in manufacturing processes and some arts is the robotic arm. Probably the first method which comes to mind would be that of the robotic arm which, if constructed correctly, can perform drawing tasks smoothly and precisely. +Another form of robotic art which is commonly used in society is the drawing robot which travels on wheels. This consists of a robot with 2 wheels and the pen attached at to the robot so that the device is stable and can travel around the paper freely but has no particular precision when drawing.
-  +
-Another form of robotic art which is commonly used in society is the drawing robot which travels on wheels. This consists of a robot with 2 wheels and the pen attached at the front so that the device is stable and can travel around the paper freely but has no particular precision when drawing.+
  
-An uncontrollable method of drawing on paper using a robot is that of a vibrating robot. These gadgets are used by some but not particularly by artists as they have virtually no control over what is being drawn.+An uncontrollable method of drawing on paper using a robot is that of a vibrating robot. These gadgets are used by some but not particularly by artists as they have virtually no control over what is being drawn [3]. One of the less well known methods of robotic art is the Egg-Bot. Although this product is not used for writing on paper on a flat surface, it allows the user to draw on objects that are almost impossible to accurately draw on.
  
-One of the less well known methods of robotic art is the Egg-Bot. Although this product is not used for writing on paper on a flat surface, it allows the user to draw on objects that are almost impossible to accurately draw on.+A method that was carefully considered for the project was the spider robot which had four poles, one in each corner of the table or work surface, and string attached to each which all were attached to a pen or marker in the center of the paper. This type of drawing robot was considered as it would be easy to construct with four motors controlling the length of the strings. The pen would be controlled by the string attached to each corner either lengthening or shortening depending on where the user would want the pen to be on the paper.
  
-A method that the team carefully considered for our project was the spider robot which had four poles, one in each corner of the table or work surface, and string attached to each which all were attached to a pen or marker in the centre of the paper. This type of of drawing robot was considered as it would be relatively easy to construct with four motors controlling the length of the strings. The pen would be controlled by the string attached to each corner either lengthening or shortening depending on where the user would want the pen to be on the paper.+The last type of robotic art form that was looked at was the printer robot. Basically, this type acts in the same way as a computer printer but would allow the user to print on any type of surface [4].
  
-The last type of robotic art form the group looked at was the printer robot. Basically, this type acts in the same way as a computer printer but would allow the user to print on any type of surface.+Another choice we had to make was the type of input we would use to command the robot to perform certain tasks. There are many ways in which humans can interact with robots, but we researched four of the most popular and easily usable command methods for the project.
  
-Another choice that the group had to make was the type of input the user would use to command the robot to perform certain tasks. There are many ways in which humans can interact with robots, but the team researched four of the most popular and easily usable command methods for our project.+The method of communication that we will use is sound. Whether it be words, tones or decibel levels, sound is the easiest way to communicate as we can easily express what are we attempting to say so that other humans or robots can understand and respond in the correct manner.
  
-The method of communication that the team will use is sound. Whether it be words, tones or decibel levels, sound is the easiest way to communicate as we can easily express what are we attempting to say so that other humans or robots can understand and respond in the correct manner. +When the use of sound cannot be used effectively, gestures can be used to communicate between humans and robots if a camera is linked to the robot. This means that the camera can recognise certain gestures performed by a human and pass the information onto the robot to perform the tasks already set in the programming stage [5].
- +
-When the use of sound cannot be used effectively, gestures can be used to communicate between humans and robots if a camera is linked to the robot. This means that the camera can recognise certain gestures performed by a human and pass the information onto the robot to perform the tasks already set in the programming stage.+
  
 A camera which is attached to the robot can also be used to recognise colours that are placed in front of it. The different colours of paper, cardboard etc. can be used to signal a different command which will be carried out by the robot. A camera which is attached to the robot can also be used to recognise colours that are placed in front of it. The different colours of paper, cardboard etc. can be used to signal a different command which will be carried out by the robot.
  
-The last method of interacting with the robot that the team investigated was the smartphone application. This is probably the most up-to-date method of communication as smartphones have only became reasonably priced for the public for around 5 years or so. The application would show several buttons on the screen with commands for the robot to perform which the user would only have to select.+The last method of interacting with the robot that we investigated was the smartphone application. This is probably the most up-to-date method of communication as smartphones have only became reasonably priced for the public for around 5 years or so. The application would show several buttons on the screen with commands for the robot to perform which the user would only have to select.
  
  
 ==== - Comparison ==== ==== - Comparison ====
  
-Once the team had researched all available possibilities which appealed to the group in terms of the structure of the robotic drawing device and and the type of input that would be used to command the robot, the group could then compare them against each other in terms of advantages, disadvantages, the parts used for construction and the cost of the materials. These construction and input methods appealed to the team as they instantly took the interest of every team member, they were aesthetically pleasing stationery and when in motion, they were challenging so that the team could gain a sense of satisfaction when completing the project and they all would provide a good service to our customers. Tables 2 and 3 were created to collect all of this information for an easy comparison on all subjects.+Once the team had researched all available possibilities which appealed to the group in terms of the structure of the robotic drawing device and the type of input that would be used to command the robot, the team could then compare them against each other in terms of advantages, disadvantages, the parts used for construction and the cost of the materials. These construction and input methods appealed to the team as they instantly took the interest of every team member, they were aesthetically pleasing stationery and when in motion, they were challenging so that the team could gain a sense of satisfaction when completing the project and they all would provide a good service to our customers. Tables 2 and 3 were created to collect all of this information for an easy comparison on all subjects.
  
 <WRAP> <WRAP>
 <table TabComparison> <table TabComparison>
 <caption>Comparison</caption> <caption>Comparison</caption>
-^ Method ^ Advantages ^ Disadvantages ^ Materials and Cost ^ Links ^   +^ Method ^ Advantages ^ Disadvantages ^ Materials ^ Web-links ^   
-| Arm {{:robot_arm.jpg?200|}}  | The robotic arm would be simple to construct. Many different materials can be used which gives a variety of options. The robotic arm design is aesthetically pleasing in the way it moves and performs tasks if constructed properly.| The materials that are used for the construction of the arm can be expensive to purchase from local providers. If not constructed correctly, the movement of the arm can be sudden and jittery. The arm can only reach a certain radius when in use.| Meccano, MeArm, 50/100 € | http://www.makeblock.cc/mdrawbot-kit/| +| Arm {{:robot_arm.jpg?200|}}  | Easy to build. Many different materials can be used which gives a variety of options. The robotic arm design is aesthetically pleasing in the way it moves and performs tasks if constructed properly.| The materials that are used for the construction of the arm can be expensive to purchase from local providers. If not constructed correctly, the movement of the arm can be sudden and jittery. The arm can only reach a certain radius when in use.| Meccano, MeArm | http://www.makeblock.cc/mdrawbot-kit/| 
-| Wheels {{:wheels_robot.png?200|}}  | The wheeled construction of the drawing robot can operate over a large area on a flat surface. The base would not cost very much to buy or construct along with the electronics. The base is simple to build with the correct components. The Arduino board would be easy to program for the functions the robot is to carry out. With the wheels, the device can move freely around a plane.| The wheel method can also be less precise when in use compared to the arm and other methods. One of the drawbacks of the wheel method is that changing the colour of the pen could prove to be difficult.| 2 wheels, 3 motors, 23,28€ €|http://www.makeblock.cc/mdrawbot-kit/| +| Wheels {{:wheels_robot.png?200|}}  | The wheeled construction of the drawing robot can operate over a large area on a flat surface. The base would not cost very much to buy or construct along with the electronics. The base is simple to build with the correct components. The Arduino board would be easy to program for the functions the robot is to carry out. With the wheels, the device can move freely around a plane.| The wheel method can also be less precise when in use compared to the arm and other methods. One of the drawbacks of the wheel method is that changing the colour of the pen could prove to be difficult.| 2 wheels, 3 motor|http://www.makeblock.cc/mdrawbot-kit/| 
-| Vibration {{:vibrating_robot.jpg?200|}}   | The vibration technique for the robot could turn out to be easy to make and relatively cheap.| The vibration of the device causes it to be unable to continue in a single direction steadily. It is almost impossible to control the movement of the device. The device has extremely random movement which would not be suitable for creating art.| Vibration motor, 13 €|http://www.instructables.com/id/Drunken-drawing-robot-/| +| Vibration {{:vibrating_robot.jpg?200|}}   | The vibration technique for the robot could turn out to be easy to make and relatively cheap.| The vibration of the device causes it to be unable to continue in a single direction steadily. It is almost impossible to control the movement of the device. The device has extremely random movement which would not be suitable for creating art.| Vibration motor, |http://www.instructables.com/id/Drunken-drawing-robot-/| 
-| EggBot {{:eggbot.jpg?200|}}   | The egg method allows the user to be able to print on difficult surfaces. The structure of the device allows the painting of Easter eggs to be carried out very easily.| This type of drawing machine can only draw on a limited number of objects. | Motor x2, Pen positioning system, Egg holder, Microcontroller, 14 € |http://www.makeblock.cc/mdrawbot-kit/| +| EggBot {{:eggbot.jpg?200|}}   | The egg method allows the user to be able to print on difficult surfaces. The structure of the device allows the painting of Easter eggs to be carried out very easily.| This type of drawing machine can only draw on a limited number of objects. | Motor x2, Pen positioning system, Egg holder, Microcontroller |http://www.makeblock.cc/mdrawbot-kit/| 
-| Spider {{:spider_robot.jpg?200|}}   | The spider device can cover a vast area of a plane if long enough strings are used. This method can be used on a horizontal or vertical plane.| Drawing in the corners of the page could prove difficult. If a four string system is used then it would be hard to calculate the length that some strings would need to contract or expand.| Motor x4, Pen holder, Strings x4, System to attach at end of canvas, Microcontroller, 14 or 28 € |http://www.makeblock.cc/mdrawbot-kit/|+| Spider {{:spider_robot.jpg?200|}}   | The spider device can cover a vast area of a plane if long enough strings are used. This method can be used on a horizontal or vertical plane.| Drawing in the corners of the page could prove difficult. If a four string system is used then it would be hard to calculate the length that some strings would need to contract or expand.| Motor x4, Pen holder, Strings x4, System to attach at end of canvas, Microcontroller |http://www.makeblock.cc/mdrawbot-kit/|
 | Printer {{:printer_robot.jpg?200|}}   | The printer drawing robot can provide a good level of precision. The drawing time will be decreased if many of the same drawings are to be printed.| The construction of this robot would be very complex. The cost of the materials could be increased as at least 3 motors would need to be purchased. The programming would be extremely challenging.| Mechanic materials|http://www.chinahae.com/product_yc-s25op-state-of-the-art-technology-wall-printer-for-individuality-home-decoration_13988.html| | Printer {{:printer_robot.jpg?200|}}   | The printer drawing robot can provide a good level of precision. The drawing time will be decreased if many of the same drawings are to be printed.| The construction of this robot would be very complex. The cost of the materials could be increased as at least 3 motors would need to be purchased. The programming would be extremely challenging.| Mechanic materials|http://www.chinahae.com/product_yc-s25op-state-of-the-art-technology-wall-printer-for-individuality-home-decoration_13988.html|
 </table> </table>
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 ^ Method ^ Advantages ^ Disadvantages ^ Materials and Cost ^  ^ Method ^ Advantages ^ Disadvantages ^ Materials and Cost ^ 
 | Sound    | Using sound could be easier for the user as it requires little effort to give commands. Anyone of all ages can give commands easily. When using sound recognition, many different sounds can be programmed into the system.| Some accents may not be compatible with the system. The system may not be able to function properly in a noisy environment.| Microphone| | Sound    | Using sound could be easier for the user as it requires little effort to give commands. Anyone of all ages can give commands easily. When using sound recognition, many different sounds can be programmed into the system.| Some accents may not be compatible with the system. The system may not be able to function properly in a noisy environment.| Microphone|
-| Gesture   | There are a lot of instruction pages on-line to help us with the programming. It is a fun and interactive way to give commands to the robot.| A lot of materials and parts are required to create this system. It would be very tough to make this system function properly. The materials for the structure would be very costly.| Camera| +| Gesture   | The camera can recognize the gestures given. Can recognize colours that are placed in front of the camera.| It would be very costly to make. Detecting multiple objects can be difficult for the system. Can only operate in an environment with a lot of light.| Camera|
-| Camera    | The camera can recognize the gestures given. Can recognize colours that are placed in front of the camera.| It would be very costly to make. Detecting multiple objects can be difficult for the system. Can only operate in an environment with a lot of light.| Camera|+
 | Application    | The application for smartphones method would have good precision when drawing.| The app for the system would be very time consuming and complex to create and link with the drawing device. A smartphone would be needed to command the drawing device.| Smartphone, Bluetooth module for robot| | Application    | The application for smartphones method would have good precision when drawing.| The app for the system would be very time consuming and complex to create and link with the drawing device. A smartphone would be needed to command the drawing device.| Smartphone, Bluetooth module for robot|
 </table> </table>
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 ==== - Conclusion ==== ==== - Conclusion ====
  
-After comparing these sets of methods of construction of the drawing robot and the way in which it receives a command, a final decision could be made on what direction the project would be heading in. +After comparing these sets of methods of construction of some drawing robot and the way in which it receives a command, a final decision could be made on what direction the project would be heading in.
  
-The robot structure that the team decided on using was the wheels method in which the device can move around on a plane on wheels with a pen attached to the front of the device. The team decided this was the best solution for the task as the device can draw over a large area on a plane. The base of the robot would be easy to build and relatively cheap to buy the parts for with the correct components. The programming of the robot would be easier than that of the other options and with the wheels, the device can move freely around the paper. The materials for the whole robot would be within our budget as well which may not have been the case for other options.+The robot structure that the team decided on using was the wheels method in which the device can move around on a plane on wheels with a pen attached to the front of the device. We decided this was the best solution for the task as the device can draw over a large area on a plane. The base of the robot would be easy to build and relatively cheap to buy the parts for with the correct components. The programming of the robot would be easier than that of the other options and with the wheels, the device can move freely around the paper. The materials for the whole robot would be within the budget as well which may not have been the case for other options.
  
-It was also decided that sound would be the best option for the input to command the robot. This is the best option as it can be used by people of all ages and fun can be had when using the system to create drawings. Also, if the user is able to create their own commands for the robot then this can add to the feeling that they have created something special.+It was also decided that sound would be the best option for the input to command the robot. This is the best option as it can be used by people of all ages and fun can be had when using the system to create drawings.
  
 The next chapter to be discussed is that of project management and how the project manager must handle all aspects of the project from defining the project scope to the planning of each part of the project. The next chapter to be discussed is that of project management and how the project manager must handle all aspects of the project from defining the project scope to the planning of each part of the project.
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 In Project management defining the project scope is the most important part. If it is not clear what has to be delivered to the customers in the end and what the boundaries are, the chance of failure will be high. In most of the instances, there actually is no chance to success with this unorganized approach. In Project management defining the project scope is the most important part. If it is not clear what has to be delivered to the customers in the end and what the boundaries are, the chance of failure will be high. In most of the instances, there actually is no chance to success with this unorganized approach.
  
-The project is to make a robot that creates art through sounds. The robot has to work by following conditions:+The project is to make a robot that creates art through sounds. The robot has to work by following 
 +conditions:
  
-  - Move on a plane +• Move on a plane 
-  - Work with distinct colours + 
-  - Be aesthetically pleasing +• Work with distinct colours 
-  - Allow changing the drawing paper + 
-  - Have as maximum dimensions 1.00 × 1.00 × 0.80 m +• Be aesthetically pleasing 
-  - Reuse the provided materials + 
-  - Use low cost hardware solutions +• Allow changing the drawing paper 
-  - Use open source software + 
-  - Comply with the Machine (2006/42/CE 2006‐05‐17), Electromagnetic Compatibility (2004/108/EC 2004-12-15), Low Voltage (2014/35/EU 2016-04-20), Radio Equipment (2014/53/EU 2014-04-16)and Restriction of the use of certain Hazardous Substances (ROHS)EU Directives.+• Have as maximum dimensions 1.00 × 1.00 × 0.80 m 
 + 
 +• Reuse the provided materials 
 + 
 +• Use low cost hardware solutions 
 + 
 +• Use open source software 
 + 
 +• Comply with the Toy directive (2006/42/CE 2006‐05‐17), Electromagnetic Compatibility (2004/108/EC 2004-12-15), Low Voltage (2014/35/EU 2016-04-20), Radio Equipment (2014/53/EU 2014-04-16)and Restriction of the use of certain Hazardous Substances(ROHS)EU Directives.
  
 The project deliverables are: The project deliverables are:
  
-  * Interim Report +• Interim Report 
-  * Interim Presentation + 
-  * Leaflet +• Interim Presentation 
-  * List of Materials & Components + 
-  * Final Report +• Leaflet 
-  * Final Presentation + 
-  * Paper +• List of Materials & Components 
-  * Poster + 
-  * Manual +• Final Report 
-  * Video+ 
 +• Final Presentation 
 + 
 +• Paper 
 + 
 +• Poster 
 + 
 +• Manual 
 + 
 +• Video
  
 This is the Figure {{ref>WBS}}, presenting Work Breakdown Structure of the project.  This is the Figure {{ref>WBS}}, presenting Work Breakdown Structure of the project. 
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 ==== - Introduction ==== ==== - Introduction ====
  
-The decided target group and potential market are children. Within children the design is more specifically for girls. The idea behind this is to pick up on the trend to make technology more attractive for females. It is important to have more incentives for girls to get interested in technology such as robotics. The drawing robot will be sold as a toy for kids to get creative. In the following chapters you can read more about the research we have done regarding this aspect. +The decided target group and potential market are children. Within children the design is more specifically for girls. The idea behind this is to pick up on the trend to make technology more attractive for females. It is important to have more incentives for girls to get interested in technology such as robotics. The drawing robot will be sold as a toy for kids to get creative. In the following chapters you can read more about the research it has done regarding this aspect.
 ==== - Market Analysis ==== ==== - Market Analysis ====
  
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 +==== - EasyVR Shield Preparation ====
 +
 +In order to take a benefit from obtained EasyVr shield, some additional steps have to be performed.
 +In the beginning, additional software and libraries have to be downloaded. First it is compulsory to download EasyVR Commander and EasyVr Arduino Library in the newest available versions, from the webpage [[http://www.veear.eu/downloads/]]
 +
 +<WRAP centeralign>
 +<figure scheme123>
 +{{::scheme123.png?200|}}
 +<caption>EasyVr Shield Pin Assignment</caption>
 +</figure>
 +</WRAP>
 +
 +Follow these few steps to start playing with your EasyVR Shield and Arduino
 +
 +  - Insert the EasyVR Shield on top of your Arduino board
 +  - If you want audio output, either wire an 8Ω speaker into the screw terminals (J10) or connect headphones to the 3.5mm output jack (J9)
 +  - Connect the supplied microphone to the MIC IN (J11) connector
 +  - Install the EasyVR Arduino libraries on your PC
 +  - Connect your Arduino board to your PC via USB.
 +  - Set the jumper (J12) in the SW position
 +  - Open the example sketch TestEasyVR from your IDE menu “File” > “Examples” > “EasyVR”
 +  - Upload the sketch and open the “Serial Monitor” window
 +  - See comments on top of the sketch for usage details
 +  - Disconnect Arduino from PC
 +  - Make sure the jumper (J12) is in the PC position
 +  - Open the EasyVR Commander and connect to the Arduino serial port
 +  - After connection Arduno, go to the "Group 1"
 +  - It is compulsory to prepare user recognition voice samples, in particular order
 +    * Click Add command button
 +    * Name command UP
 +    * Click Train command button
 +    * Record voice sample
 +    * Click Add command button
 +    * Name command DOWN
 +    * Click Train command button
 +    * Record voice sample
 +    * Click Add command button
 +    * Name command LEFT
 +    * Click Train command button
 +    * Record voice sample
 +    * Click Add command button
 +    * Name command RIGHT
 +    * Click Train command button
 +    * Record voice sample
 +    * Click Add command button
 +    * Name command SPIN
 +    * Click Train command button
 +    * Record voice sample     
 +  - To prepare user custom voice feedback, follow company attached PDF instruction [[http://www.veear.eu/files/EasyVR-User-Manual.pdf]] Page 61 //¨Using Custom Data - Sound Table¨// and then //¨Updating Custom Data ¨// Page 63
 +  - Disconnect Arduino
 +  - Set the jumper (J12) in the SW position
 +  - Upload Arduino Code.
 +  - Disconnect Arduino
 +  - Set the jumper (J12) in the HW position; robot will be working only it this mode
 +  - Now shield is ready to use.
 +
 +
 ==== - Tests and Results ==== ==== - Tests and Results ====
  
-**7.7.1 Human tests**+=== - Human tests ===
  
  As it is mentioned in introduction part, our first test procedure was a Human Test. One team member has been pretending to be a robot and in the same tame second one was giving random voice commands. ​    As it is mentioned in introduction part, our first test procedure was a Human Test. One team member has been pretending to be a robot and in the same tame second one was giving random voice commands. ​  
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 </WRAP> </WRAP>
  
-**7.7.2 Component testing** +=== - Component testing ===
 As the team were proceeding with the project development, further tests were been performed to ensure that each part of the robot performed the way that was expected of it. As the team were proceeding with the project development, further tests were been performed to ensure that each part of the robot performed the way that was expected of it.
  
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 </WRAP> </WRAP>
  
-**7.7.3 Project development** +=== - Project development ===
 After obtaining the new Arduino board for the team, project development has been continued. To work around the cable connectivity problems, the extension pins have been soldered on to the Motor Shield, as well as to the IR sensor. To connect the IR to the robot, the team have used female - female connectors that are attached to the cables.  After obtaining the new Arduino board for the team, project development has been continued. To work around the cable connectivity problems, the extension pins have been soldered on to the Motor Shield, as well as to the IR sensor. To connect the IR to the robot, the team have used female - female connectors that are attached to the cables. 
 The next step was soldering the Switch ON - OFF, between the battery and Arduino, to be able to turn the device on and off. The next step was soldering the Switch ON - OFF, between the battery and Arduino, to be able to turn the device on and off.
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 All the movement worked well and even the infrared sensor that was designed for detecting the paper proved to be working and the robot stops immediately on the edge of the paper. All the movement worked well and even the infrared sensor that was designed for detecting the paper proved to be working and the robot stops immediately on the edge of the paper.
  
-**7.7.4 Prototype testing** 
  
 +=== - Prototype testing ===
 In the testing of the prototype, which can be seen in the figure below, the team had some success. The idea was to test all the designed functionalities and as first were the wheels. There was a small problem with the rubber on the wheels touching the chassis because the connections with the DC motors and wheels are very close to each other. For this reason the robot did not go perfectly straight and the torque was higher.  In the testing of the prototype, which can be seen in the figure below, the team had some success. The idea was to test all the designed functionalities and as first were the wheels. There was a small problem with the rubber on the wheels touching the chassis because the connections with the DC motors and wheels are very close to each other. For this reason the robot did not go perfectly straight and the torque was higher. 
 The microphone on the EasyVR proved to be a little weak. It had a hard time hearing the commands at times. All the other commands it understood quite well except with the command ‘’CHANGE’’ was almost impossible. That is when the team decided to change the command to ‘’SPIN’’ and this then worked better and the robot could change color. The microphone on the EasyVR proved to be a little weak. It had a hard time hearing the commands at times. All the other commands it understood quite well except with the command ‘’CHANGE’’ was almost impossible. That is when the team decided to change the command to ‘’SPIN’’ and this then worked better and the robot could change color.

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