College of Engineering

Department of Electrical Engineering

Fall 2019-2020

Senior Design Project Report

Autonomous Mobile Robotic Library

System

In partial fulfillment of the requirements for the

Degree of Bachelor of Science in Electrical Engineering

Team Members

Student Name Student ID

1 Fahad Alsubaie 201500450

2 Ibrahim Alharbi 201101220

3 Aws Aleryani 201503139

4 Nassim Mahamoud 201503130

5 Ahmed Alhafidh 200901602

Project Advisor:

Dr. Sadiq Alhuwaidi

 Abstract

The main objective of this project is to design a robot that handles library services
effectively, develop a smart system to maintain a library using controller based system,
reduce the load and the time consumption of human services, and ease and simplify the job of
monitoring the library services and saving expenses by reducing human dependency.
The robot performs multipurpose services and assistance for library users. It brings and
returns books for students and records database. The robot interacts between students and
library system.

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Table of Contents

Abstract............................................................................................................................................................... 2
1. Introduction .................................................................................................................................................... 5
1.1 Project Definition .................................................................................................................................. 5
1.2 Project Objectives ................................................................................................................................. 5
1.3 Project Specifications ............................................................................................................................ 5
1.4 Product Architecture and Components.................................................................................................. 6
1.5 Applications .......................................................................................................................................... 6
2. Literature Review ........................................................................................................................................... 6
2.1 Project background................................................................................................................................ 6
2.2 Previous Work....................................................................................................................................... 7
2.3 Comparative Study ................................................................................................................................ 9
3. System Design ................................................................................................................................................ 9
3.1 Design Constraints ................................................................................................................................ 9
3.1.1 Design Constraints: Engineering Standards ...................................................................................... 9
3.1.2 Design Constraints: constraint name................................................................................................. 9
3.2 Design Methodology ............................................................................................................................. 9
3.3 Product Subsystems and Components ................................................................................................. 10
3.3.1 Product Subsystem1: Movement Motors … ................................................................................... 10
3.3.2 Product Subsystem2: Moving Mechanism using Pixy2 Cam … .................................................... 11
3.3.3 Product Subsystem3: RFID Book Recognition ….......................................................................... 11
3.3.4 Product Subsystem4: Lifting Mechanism … .................................................................................. 11
3.3.5 Product Subsystem5: Handling Book Mechanism … ..................................................................... 12
3.3.6 Product Subsystem6: 3D printed core material reinforced with carbon fiber ................................. 12
3.4 Implementation ................................................................................................................................... 13
4. System Testing and Analysis ........................................................................................................................ 16
4.1 Subsystem 1: Movement Motors......................................................................................................... 16
4.2 Subsystem 2: Moving Mechanism using Pixy2 Cam .......................................................................... 16
4.3 Subsystem 3: RFID Book Recognition ............................................................................................... 17
4.4 Subsystem 4: Lifting Mechanism ........................................................................................................ 17
4.5 Subsystem 5: Handling Book Mechanism .......................................................................................... 18
4.6 Subsystem 6: 3D printed core material reinforced with carbon fiber .................................................. 18
4.7 Overall Results, Analysis and Discussion ........................................................................................... 18
5. Project Management ..................................................................................................................................... 19
5.1 Project Plan ..........................................................................................Error! Bookmark not defined.
5.2 Contribution of Team Members .......................................................................................................... 20
5.3 Project Execution Monitoring ............................................................................................................. 20
5.4 Challenges and Decision Making ........................................................................................................ 20
5.5 Project Bill of Materials and Budget ................................................................................................... 21
6. Future Work and Expected Final Prototype/Results ......................................Error! Bookmark not defined.

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 6.1 Life-long Learning ...............................................................................Error! Bookmark not defined.
6.2 Expected Prototype ............................................................................................................................. 22
7. Limitations and Challenges .......................................................................................................................... 23
7.1 Limitations .......................................................................................................................................... 23
7.2 Challenges ........................................................................................................................................... 23
8. Conclusion .....................................................................................................Error! Bookmark not defined.
9. References .....................................................................................................Error! Bookmark not defined.

Appendix A: Progress Reports ............................................................................................................................. 26

Appendix B: Bill of Materials .............................................................................................................................. 28
Appendix C: Datasheets ....................................................................................................................................... 29
Appendix D: Program Codes ................................................................................................................................ 36
Appendix E: Operation Manual ............................................................................................................................ 42

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 1. Introduction

1.1 Project Definition

The goal of our project (An Autonomous Mobile Robotic Library System) is to design a smart
human-robot interface, which will perform multipurpose services and assistance for library
users; mainly bringing and returning books for students and other related services. The robot
interacts between students and library systems.

1.2 Project Objectives

 Design a robot that handles library services effectively.

 Develop a smart system to maintain a library using controller-based systems.
 Reduce the load and the time consumption of human services.
 Ease and simplify the job of monitoring the library services.
 Saving expenses by reducing human dependency.

1.3 Project Specifications

 Controlling and monitoring book lending requests.

 Lifting capability of reaching 1.5 meters high shelves.
 Handling library books autonomously.
 Smart robotic detection of obstacles and shelves.

1.4 Product Architecture and Components

This system works automatically. This robot receives the request from the tablet, then sends it
to the controllers. Controllers work as the brain of this robot and send the information to the
motors to move. Also, the controllers send signal to the pixy cam to start working and following
the line. The robot starts moving to that shelve that has the book. When the robot reaches the
correct shelve, it stops and sends a signal to the controllers and the controllers will send a signal
to the arm to move to the right shelve and the RFID to check the books. In the end, when the
robot takes the right book, it will send the signal to the controllers to start going back to the
main place, and it will do the same order to return the book to the right shelve.

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 1.5 Applications
 This autonomous robot can be used in warehouse like what Amazon did.
 It can be used as a waiter for restaurant.
 It can be used for electric vehicle (EV) charger.

2. Literature Review

2.1 Project background

The libraries are major parts of our modern lives, for increasing amounts of books which are
being stored in libraries worldwide with contents from different parts of the world. As a
result, finding books in libraries task has become difficult even for library employees.
Therefore, we are aiming to build a robotic system that is able to autonomously detect books
using RFID technology, and locate them in their shelves or bringing them to library users.

Some common problems are:

 Time consumption to search for books.

 Load on library staff to process individual search requests.
 No regular updating of digital database.
 No interactive technology involved.

Previous solutions involved detecting books using barcode, which is not efficient as barcode
scanners are missing many books, but our method of implementing RFID’s is precise in
detecting books even at a peak of a second.

We are aiming to provide the following solutions:

 Develop a smart robotic system to maintain a library using controller-based systems.

 Reduce the load on human services.
 Ease and simplify the job of monitoring the library services.
 Saving expenses by reducing human dependency.

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 2.2 Previous Work

1- Microcontroller Based Robotic Arm Development for Library Management System

Other people in different universities have done some previous similar projects. This definitely
highlights the importance of having an autonomous robot within a workspace. For instance,
the Department of Electrical Engineering Meghnad Saha Institute of Technology, Kolkata,
India published an article concerning an autonomous robot, which could pick books and return
books in different shelves within a library. In their project, when returning a book, a bar code
scanner used to identify the book in order to determine where to be placed. In addition, they
used IR sensors to locate the shelves where the book should be picked or returned. It is actually
a smart way to localize a book. Indeed, this project is similar to ours. However, the components
used to build it will differ to the ones which will be used to build ours. For example, they used
IR while we are going to use RFID. They used wifi to connect the system to the Arduino while
we may use Zigbee and so on. [1]

Figure 2.2.1: Project Block Diagram

2 – A Mobile Robot for Autonomous Book Retrieval

In this research paper, a robot had been created using a laptop to monitor the subsystems. The
robot consists of two hands’ system to catch the books. However, the robot is not precise as it
uses barcodes to collect books. The robot has customized cross-platform compatible software,
written in C++ language, forms the intelligence of the robot while an onboard laptop computer,
running on Linux platform of Red Hat distribution version 9.0, provides the processing and
execution of intelligence of the robot. A Graphical User Interface (GUI) developed using

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Borland’s Kylix R acts as the human–machine interface allowing a user to submit a desired
book call number. DC motors are used for locomotion. Infrared line tracer sensors are used for
the navigation of the robot with lines embedded in the floors marking the routes and giving the
robot a priori knowledge of the paths it has to take. Barcoding technology is used to provide
digital signatures to library books, encoding its call number into the barcode. The employment
of an innovative and practical system, a typical and inexpensive barcode reader, provides the
technology with which books are implemented. Current ongoing work includes improvising
the performance of the robot and incorporation of features such as circumnavigation around
obstacles, localization and automatic self-recharging that will solve the problems of
deployment in a realistic environment. [2]

The project that we are going to design and build has two advantages than the one
above, which are: 1- fixing the system’s power problem by implementing a continuous
charging method. 2- Developing more subsystems to manage the library database using RFID,
which is a more precise method of locating books.

3 - Mobile Robot Capable of Crossing Floors for Library Management

As the world revolves on autonomous in order to reduce the labor and materials. Beijing
Institute of Technology published an article under a title of (Mobile Robot Capable of
Crossing Floors for Library Management). This article discusses about a team trying to
develop an intelligent robot that can deliver books to readers, shelve books in its correct
position and can interact with readers without labor participation. This paper has the same
goals as our project in addition to the design of the robot. They use looks similar in many
aspects with slightly different features. [3]

4 - Warehouse Robots for Fulfillment Centers

In industrial nowadays, industrial robots have become essential in industries. More than that,
the delivery services have been shifted, and medical assistants and other applications include
autonomous robots. For example, Behemoth retailer Amazon put retail automation
technology in the spotlight with the 2012 purchase of Kiva Systems, a company which
developed warehouse robots and related technologies, and which was acquired for $775
million. Now known as Amazon Robotics, this system and design reflects the same idea and
purpose of our project providing the delivery and returning objects and ensuring the
possibility of interacting with a human is relatively low. The system is using the mapping for

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robot navigation. The Amazon Robotics system has proven its efficiency and so we try to
build a similar system but this time in library. We are searching and developing a robot to
install it in library instead of a warehouse like Amazon. [4]

2.3 Comparative Study

As can be seen from the comparison study Table 2.3.1, our project offers the advantage of all
the previous projects combined in terms of simplicity, efficiency, low price, returning to
home charge, multitasking and automatic monitoring.

Table 2.3.1: Projects Comparison Study.

3. System Design

3.1 Design Constraints

3.1.1 Design Constraints: Engineering Standards

The engineering constraint we faced in the designing period of the project is the size of the
robot, which will ensure that the robot will not be unbalanced at 2 m height while carrying 2
kg book, and will meet the correct design size to move freely in the library without affecting
the motor specifications.

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We solved this issue using CAD software for planning and anticipating the worst-case
scenarios.

3.1.2 Design Constraints: Economic

The Economic constraint we faced in our project is minimizing the costs, especially for the
pulley that will raise the arm to the shelves. We found out that we could use actuators, which
are much cheaper than pulleys to do the lifting process and with better accuracy.

3.2 Design Methodology

The controller (Arduino) is supplied power by the batteries, which in turn powers the DC
motors of the chassis. The controller receives orders from the tablet, and orders the robot to
go to the specific shelve to either pick or return the book using Pixycam for movement and
RFID tags for detecting books. The tablet should coordinate the library systems between
users and the robot. Figure 3.2.1 shows the block diagram of the project architecture.

Figure 3.2.1: The Project Architecture Block Diagram

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 3.3 Product Subsystems and Components
3.3.1 Product Subsystem 1: Movement Motors

Our robot will have to move from point A to point B in order to perform either a picking or a
deposing task at a reasonable speed of 0.3 m/s. For that, there is only one option that can
perform this task, which is the using of motors.
Several types of motors can be used to meet our requirements such as:
 DC motor.
 Step motor.
 Servomotor.
 AC motor.
However, one type of motor has to be used. Thus, through our research, we decided that the
DC motors are much suitable to our project compared to the others. The reason is that: DC
motor has continuous displacement while stepper motor’s motion has an angle incremental
and servomotors are not continuous. Indeed, as our power supply is a battery then AC motor
is not needed.

3.3.2 Product Subsystem 2: Moving Mechanism Using Pixy2 Cam

To reach a specific destination, we chose the using of Pixy2 Cam to dictate the path that the
robot must follow. Some other options can be used to perform the same task such as:
 IR sensors
 GPS module
However, Pixy2 Cam is much more reliable, multitasking, accurate and easy to use compared
to any of the listed above. For those reasons, we decided to go with Pixy2 Cam.

3.3.3 Product Subsystem 3: RFID Book Recognition

This subsystem is the most important one for any robot made for library. Therefore, we took
sometimes to research the most reliable and effective in the local market within our budget.
To meet those requirements, we decided to purchase a passive RFID which is the RC522.
This passive RFID has a ranch from 0 to 5 cm which satisfies our requirement. In addition, it
is the cheapest passive RFID available in the local market, and its reader can read PMU
students’ IDs. This means that we do not need to buy extra RFID tags in order to stick them
on the books. Different alternatives of this one could have been:

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 Active RFID: This kind of RFID are not at all suitable for our project on the way that they
are expensive, have long detection range, and consume more power.
 Other types of passive RFID: Those RFID are more expensive and have a long detection
range which is not recommended for our subsystem.

3.3.4 Product Subsystem 4: Lifting Mechanism

To reach different shelves level, a need of an elevator system needed to be designed. Thus,
we decided to choose to incorporate a 3D printer design model for our system of elevator.
The reason behind that is that 3D printers are precise. Such feature is one of the two
important requirements for our lifting subsystem. For those reasons, we bought stepper
motors and lead screws made specifically for 3D printers in order to install them in our lifting
mechanism. Other options were on the table for example a pulley elevator model. This model
demands too many mechanical equipment to be involved. In addition, we noticed that this
model will cause a stability problem.

3.3.5 Product Subsystem 5: Handling Book Mechanism

Another important subsystem is to choose our handling book mechanism. When you do
literature search, you will notice uncountable ways of grabbing a book. So, with a high
variety of grabbing mechanisms, a decision to choose the right one was really difficult. At the
end, we decided go with an actuator which will be equipped at its tip with an electromagnet.
So far, we did not yet implement this system. However, we already have the equipment.
Choosing those two equipment for a handling mechanism appears to be our best solution in
order to avoid dealing with mechanical equipment like grabbing mechanism in which it might
not be able to hold the required object. In addition, we intended to avoid more mechanical
issues in which a lot of calibrations are demanded. For those reasons, an actuator is the best
choice. Noticing that with an electromagnet, we are sure that the grabbing part will not be a
problem.

3.3.6 Product Subsystem 6: 3D printed Core Material Reinforced with Carbon Fiber

This subsystem is the structure of our robot. At first, we decided to build a workshop
structure made of fibber as it is light. However, when added just the DC motors and the
battery, we surprisingly discovered that it became much heavier than expected. To solve this
problem, we decided to go with a 3D printed core as a predesigned and virtual testing were

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required before printing. This will make sure to avoid any surprises and to avoid wasting
more money for an unreliable structure with poor design.

3.4 Implementation
From last semester, we started building our base to make it move from point A to point B.
Thus, we decided to focus in two subsystems,
which are described previously. To meet our
specifications, we chose the DC motor with
regards to some calculations as shown in
Figure 3.4.1. Those calculations find the DC
motors that can meet our specifications
(weight and speed) provided which we can
find them in the market. In order to ease our
calculations, we chose primarily four different
diameters of tires (d=0.065 m, d= 0.13 m,
d=0.085 m, and d=0.1m) available in the
market. With any of those diameters, we can
reach a speed of 0.3 m/s if we choose any
angular speed greater than 44.08 rpm. To solve
the weight problem, we just calculated the torque Figure 3.4.1: Matlab Motor Calculations.
of each one then chose the DC motor that had a
speed greater or equal to 44.08 rpm, and had a torque bigger enough to bear the weight. The
fourth case is the measurement we chose to go with as we found a DC motor that meets the
entire requirement.
As described in the subsystem section, to follow the line, we chose Pixy2 Cam. The
reasons we chose this are described in details in 3.3.2 subsystem section. Before
implementing the two subsystems together, we tested the four DC motors by powering them
up with low power supply to check if they are working. Then, we did a test for the pixy2 Cam
by using Arduino mega 2560.
Finally, we built a temporary chassis through a workshop, and integrated the four DC
motors and the pixy for a demo as shown in the Figure 3.4.2.

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Figure 3.4.2 (A): Project Shape from Bottom. Figure 3.4.2 (B): Project Shape while Moving.

In Assessment III course, we started with the user interface system which is our third system.
In order for our robot to pick or return a book, it needs first to detect the book. Thus, we
chose to use the RC522 passive RFID to detect the preregistered book of the library. The
choice of choosing this specific RFID is explained in 3.3.3 subsystem section. Figure 3.4.3
shows the RC522 passive RFID reader and tags.

Figure 3.4.3: RFID Kit.

The RFID subsystem was integrated and implemented by the group members as shown in
Figure 3.4.4.

Figures 3.4.4 A, B, C: RFID Subsystem Implementation.

After implementing the circuit shown above, we tested it in the lab and the system works as
expected.

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At this time, we are working in parallel to finish three subsytems at the same time. Those
subsytems are lifting mechanism, handling mechanism, and the body structure. The
components chosen to built and implement those subsytems are already in our hands. The
preferred chosen components are explained in 3.3.4 , 3.3.5 , and 3.3.6 in subsytem section.
Figure 3.4.5 shows the progress of the lifting mechanism.

Figure 3.4.5: Lifting Mechnism Testing.

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 4. System Testing and Analysis

4.1 Subsystem 1: Movement Motors

Objective: The objective of the testing is to verify that the calculations of motor specification
meet the actual requirement. In another words, verifying that the motors can handle the
weight of the robot, and move as desired without mistakes.

Instruments: The main instruments used were the digital multimeter (DMM) and the DC
Power Supply, which were used inside PMU circuit lab to test if the motor current
consumption is within the range limit. Such tests indicates that the motors can handle the
weight of the robot.

Results: The results of the motors current consumption under 15 kg of weight was 5 A,
indicating that it still can hold more weight estimated to be as 7.5 A.

4.2 Subsystem 2: Moving Mechanism using Pixy2 Cam

Objective: The aim of the testing is to verify that the PixyCam accuracy meets our
requirements. The testing mainly verifies that the PixyCam vectors following can be used to
move smoothly into the required shelve, and recognize which path to follow in case of
intersections of different shelves line vectors.

Instruments: The main instruments used were tapes and the chassis with Pixy2 Cam. A test
was done to move the robot from point to point using Pixy2 Cam moving mechanism where
intersection between two lines was available.

Figure 4.2.1: Intersection Recognition Movement.

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Results: The results of the test showed positive outcomes as the robot moved smoothly
without facing difficulties in recognizing which vector line to follow. Moreover, the
movement is smooth and did not affect the chassis balance.

4.3 Subsystem 3: RFID Book Recognition

Objective: The aim of the test was to verify that the RFID reader can recognize the books
using tags placed at the end of the book from a specific distance. This distance between the
book and the reader in the test was simulated to be similar to the distance between the robot’s
elevator plate and the reader.

Instruments: The main instruments used were the books occupied with RFID tags, and the
RFID readers, which are shown in figures 3.4.4 of previous chapter
Results: The results of the test showed that the RFID tags and readers used where well suited
for our project as they immediately and correctly recognized the books which were passed
through them.
Figures 4.3.1 & 4.3.2 show the process of book scanning and recognition during testing.

Figure 4.3.1: RFID Book Scanning. Figure 4.3.2: RFID Book Recognition.

4.4 Subsystem 4: Lifting Mechanism

Objective: The aim of the test is to test how effective and fast can the elevator plate rise up or
go down, and test the code accuracy in going to the desired level.

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Instruments: The main instruments used were the stepper motors and the lead screws attached
to them.

Results: The results of the test showed that the stepper motor required to be replaced as their
performance was weak, and the sound was noisy. As we replaced the stepper motors, we
noted that there was minimal noise, and the elevator was fast in rising and going down due to
the special lead screws with maximum slope.

4.5 Subsystem 5: Handling Book Mechanism

Test was not concluded as the subsystem coding is still in progress.

4.6 Subsystem 6: 3D Printed Core Material Reinforced with Carbon

Fiber
The robot is undergoing simulations in design before starting the printing. The robot will be
ready to be tested after printing and assembling takes place.

4.7 Overall Results, Analysis and Discussion

Overall, we can say that the results of the testing were successful after several trials.
However, it is worth to note that many obstacles may arise in case if we combine all the
subsystems together within the robot. Therefore, we estimate the progress percentage for each
subsystem with respect to the combined overall robot as follows.

Table 4.1: Subsystems progress percentage.

Subsystem Progress Percentage
Movement Motors 100%
Moving Mechanism using Pixy2 Cam 100%
RFID Book Recognition 90%
Lifting Mechanism 60%
Handling Book Mechanism 20%
3D printed core material reinforced with fibber carbon 50%

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 5. Project Management

5.1 Project Plan

At this point we are working on:
 The frame of the lifting subsystem mechanism.
 Building the lifting plate and assembling it within the frame.
 Testing accuracy of reaching the desired shelve.
 Starting Subsystem 5 (Handling Subsystem).
 Printing core structure.

Figure 5.1: Progress Report

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 5.2 Contribution of Team Members

Table 5.1: Team Contribution towards Project.

Task Nassim Aws Ibrahim Ahmed Fahd Task Total

Search & acquire

components 25% 20% 20% 20% 15% 100%

Design Subsystems 20% 25% 20% 20% 15% 100%

Test Subsystems 20% 20% 20% 20% 20% 100%

Write Reports &

25% 25% 15% 15% 20% 100%
Presentations

5.3 Project Execution Monitoring

Activities:

 Biweekly meetings with advisor.

 Weekly team meetings on Thursdays.
 Testing each subsystem within week of components arrival.

5.4 Challenges and Decision Making

So far, the following below are the challenges we faced:

Fall 2019-2020:

 Designing and balancing the robot.

Solution: Consulted 3D engineers to take care of the designing and simulation of the
robot before performing the 3D printing.

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  Motor Driver damaged which needed to be replaced as fast as possible.
Solution: Replaced the driver as fast as possible with different kinds of driver.
Therefore, adapting and changing the code logic to meet the criteria.

Spring 2020:

 Designing the lifting plate and frame is risky before insuring lead screws correct
positioning through testing. Therefore, lifting mechanism had to be delayed.
 Stepper motor manufacturing malfunctioning, which caused a delay to order the new
stepper motors from USA.
 Components arrival delay from China because of Corona Virus.
 City Lockdown because of Corona Virus caused a huge delay in our progress.

5.5 Project Bill of Materials and Budget

Table 5.2: Project Budget

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 6. Future Work and Expected Final
Prototype/Results

6.1 Future Work

For the future work plans, we came across situations in which there was better techniques to
implement our project applications.

These plans include the following:

 PixyCam technology to detect shelves.
 Complex path technique to move and detect paths across the library.
 Silent hydraulic or pressure-based lifting mechanism using expert mechanic advices.
 Implementing self-recharge efficient, precise and safe techniques using complex
coding approaches.

6.2 Expected Prototype

In our project, most of the subsystems that compose our expected prototype were explained
and shown in Sections 3 and 4. Thus, we would expect our product to have an appearance as
shown in Figure 6.2.2.

Our initial design was implemented using CAD software as shown in figure 6.2.1, but after
consulting experts, we ended up with the design in Figure 6.2.2.

Figure 6.2.1: Initial CAD Prototype. Figure 6.2.2: Expected Prototype.

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 7. Limitations and Challenges

7.1 Limitations

 Covering a small library due to battery limitations.

 Bottom level shelves cannot be accessed.
 The robot is only able to follow a specific path for each shelve.
 The robot has limitation in performing two tasks at a time. i.e. cannot bring and return
books at the same time.

7.2 Challenges

Fall 2019-2020:

In this term, we faced those following challenges in which we were able to overcome perfectly.
 Designing and balancing the robot.
 Motor driver damaged which needed to be replaced as fast as possible.

Spring 2020:

In this term, some of the challenges mentioned were overcome. However, the last one was not
in our control.
 Designing the lifting plate and frame is risky before insuring lead screws correct
positioning through testing.
 Stepper motor manufacturing malfunctioning.
 Components arrival delay from China.
 Due to COVID 19, no progress done after March 7, 2020.

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 8. Conclusion

In conclusion, our project to design a robot that handles library services has finished in
term of design and testing in every aspect.However, due to the unfortunate COVID-19
spreading around the globe and the Saudi government new procedures to block this virus from
spreading, our work was restricted on the final stage of producing our final product. We could
proudly say that our team has achieved high progress in the Design Methdology semeste (Fall
2019 - 2020), we made the Implementation, system testing and analysis of 2 subsystems, and
we managed to implement the remaining 3 systems in the Assesment III semeste (Spring 2020).
However we aim to combine all the subsystems as soon as the pandemic is over, and we are
able to present the demo of our work.

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 9. References
 [1] https://arxiv.org/ftp/arxiv/papers/1812/1812.11316.pdf
 [2] https://link.springer.com/content/pdf/10.1007%2F978-3-540-73424-6.pdf
 [3] ieeexplore.ieee.org/document/8816274
 [4] https://www.nanalyze.com/2018/08/warehouse-robots-retail-automation/

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 Appendix A: Progress Reports

The progress reports of the Design Methodology Course and the Assessment 3 Course are
shown in the figures:
1- Design Methodology Course

Figure 1: Design Methodology & Project Management Progress Report

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2- Assessment III Course

Figure 2: Assessment III Progress Report

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 Appendix B: Bill of Materials

The following table shows the cost of equipment and services that we have bought and used
for our robot.

Table 1: Project Budget:

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Appendix C: Datasheets

Figure 4: DC Motor Datasheet

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Figure 5: Motor Driver Datasheet

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Figure 6: Stepper Motor Datasheet

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Figure 4: Arduino Mega 2560 Datasheet

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Figure 5: RFID Datasheet

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Figure 6: Actuator Datasheet

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 Figure7: Lead Screw Datasheet

The links for the above datasheets:

 https://cdn.shopify.com/s/files/1/0061/7735/7891/files/Mini_Linear_Actuator_PA-
14.pdf?v=8946735387817795481
 http://www.datasheetcafe.com/17hs4401-datasheet-stepper-motor/
 https://robokits.download/downloads/Dual_DC_Motor_Driver_20A.pdf
 https://robokits.download/downloads/RKI-1147.pdf
 https://electrinostore.com/aeYRbn
 https://www.robotshop.com/media/files/pdf/arduinomega2560datasheet.pdf

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 Appendix D: Program Codes

The Arduino codes used are divided into three categories:

 Chassis Movement Code

 Lifting Plate code
 RFID Code

Each category codes are shown in the following pages, and it is worth mentioning that the
final integrated code can only be created and combined after implementing and testing the
whole systems together to add the missing parts.

36
 1- Chassis Movement Code

#include <Pixy2.h>
#include <PIDLoop.h>

#define X_CENTER (pixy.frameWidth/2)

#define dir_l 42
#define dir_r 44
#define pwm_l 6
#define pwm_r 5
#define brk_l 22
#define brk_r 24

Pixy2 pixy;
PIDLoop headingLoop(5000, 0, 0, false);

void setup()
{
//motors.setLeftSpeed(0);
//motors.setRightSpeed(0);
pinMode (dir_l,OUTPUT);
pinMode (dir_r,OUTPUT);
pinMode (pwm_l,OUTPUT);
pinMode (pwm_r,OUTPUT);
pinMode (brk_l,OUTPUT);
pinMode (brk_r,OUTPUT);
//digitalWrite(brk_l, HIGH);
// digitalWrite(brk_r, HIGH);
pixy.init();
// Turn on both lamps, upper and lower for maximum exposure
pixy.setLamp(1, 1);
// change to the line_tracking program. Note, changeProg can use partial strings, so
for example,
// you can change to the line_tracking program by calling changeProg("line") instead of
the whole
// string changeProg("line_tracking")
pixy.changeProg("line");

// look straight and down

pixy.setServos(500, 1000);
Serial.begin(9600);
}

void loop()
{
//Serial.print("Starting...\n");

int8_t res;
int32_t error;
int left, right;
char buf[96];

// Get latest data from Pixy, including main vector, new intersections and new
barcodes.
res = pixy.line.getMainFeatures();

// If error or nothing detected, stop motors

if (res<=0)
{
analogWrite(pwm_l, 0);
analogWrite(pwm_r, 0);

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 //motors.setLeftSpeed(0);
//motors.setRightSpeed(0);

Serial.print("stop ");
Serial.println(res);
return;
}

// We found the vector...

if (res&LINE_VECTOR)
{
// Calculate heading error with respect to m_x1, which is the far-end of the
vector,
// the part of the vector we're heading toward.
error = (int32_t)pixy.line.vectors->m_x1 - (int32_t)X_CENTER;

pixy.line.vectors->print();

// Perform PID calcs on heading error.

headingLoop.update(error);

// separate heading into left and right wheel velocities.

left = headingLoop.m_command;
right = -headingLoop.m_command;

// If vector is heading away from us (arrow pointing up), things are normal.
if (pixy.line.vectors->m_y0 > pixy.line.vectors->m_y1)
{
// ... but slow down a little if intersection is present, so we don't
miss it.
if (pixy.line.vectors->m_flags&LINE_FLAG_INTERSECTION_PRESENT)
{
left += 100;
right += 100;

}
else // otherwise, pedal to the metal!
{
left += 150;
right += 150;

}
}
else // If the vector is pointing down, or down-ish, we need to go
backwards to follow.
{
left -= 100;
right -= 100;

}
//motors.setLeftSpeed(pwm_l);
//motors.setRightSpeed(pwm_r);
analogWrite(pwm_l, left);
analogWrite(pwm_r, right);

}
}

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 2- Lifting Plate Code Test

byte dir1= 4, dir2= 5;

byte brk1= 6, brk2=7;
byte pwm1= 2, pwm2= 3;

#define x 2500 // smaller values may make the motor produce more speed
and less torque
#define y 2000
#define stepsPerRevolution 200 // you can the number of steps required to make a
complete revolution in the data sheet of your motor

void stepperClockwise(byte spd);

void stepperAnticlockwise(byte spd);

void setup() {
pinMode(dir1, OUTPUT);pinMode(dir2, OUTPUT);
pinMode(brk1, OUTPUT);pinMode(brk2, OUTPUT);
pinMode(pwm1, OUTPUT);pinMode(pwm2, OUTPUT);

Serial.begin(9600);
}

void loop() {
char direction;
direction= Serial.read();

stepperAnticlockwise(200);
delay(1000);

stepperClockwise(200);
delay(1000);
}

void stepperAnticlockwise(byte spd){

for (int i = 0; i < (stepsPerRevolution/4) ; i++) {
analogWrite(pwm1,spd);
analogWrite(pwm2,spd);

digitalWrite(dir2,LOW);
digitalWrite(dir1,LOW);
delayMicroseconds (x);

digitalWrite(dir2,HIGH);
digitalWrite(dir1,LOW);
delayMicroseconds (x);

digitalWrite(dir2,HIGH);
digitalWrite(dir1,HIGH);
delayMicroseconds (x);

digitalWrite(dir2,LOW);
digitalWrite(dir1,HIGH);
delayMicroseconds (x);

analogWrite(pwm1,0);
analogWrite(pwm2,0);

}
}

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void stepperClockwise(byte spd){

for (int i = 0; i < (stepsPerRevolution/4) ; i++) {

analogWrite(pwm1,spd);
analogWrite(pwm2,spd);

digitalWrite(dir1,HIGH);
digitalWrite(dir2,HIGH);
delayMicroseconds (x);

digitalWrite(dir1,LOW);
digitalWrite(dir2,HIGH);
delayMicroseconds (x);

digitalWrite(dir1,LOW);
digitalWrite(dir2,LOW);
delayMicroseconds (x);

digitalWrite(dir1,HIGH);
digitalWrite(dir2,LOW);
delayMicroseconds (x);

analogWrite(pwm1,0);
analogWrite(pwm2,0);
}

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 3- RFID Code

#include "SPI.h"
#include "MFRC522.h"
#define SS_PIN 10
#define RST_PIN 9
#define SP_PIN 8
MFRC522 rfid(SS_PIN, RST_PIN);
MFRC522::MIFARE_Key key;

void setup() {
Serial.begin(9600);
SPI.begin();
rfid.PCD_Init();
}

void loop() {
if (!rfid.PICC_IsNewCardPresent() || !rfid.PICC_ReadCardSerial())
return;
MFRC522::PICC_Type piccType = rfid.PICC_GetType(rfid.uid.sak);

if (piccType != MFRC522::PICC_TYPE_MIFARE_MINI &&

piccType != MFRC522::PICC_TYPE_MIFARE_1K &&
piccType != MFRC522::PICC_TYPE_MIFARE_4K) {
Serial.println(F("Your tag is not of type MIFARE Classic."));
return;
}

String strID = "";

for (byte i = 0; i < 4; i++) {
strID +=
(rfid.uid.uidByte[i] < 0x10 ? "0" : "") +
String(rfid.uid.uidByte[i], HEX) +
(i!=3 ? ":" : "");
}
strID.toUpperCase();

if (strID.indexOf("B3:C8:1C:06") >= 0)
{
Serial.println("Probability book has been recognized");
}
else if(strID.indexOf("7B:16:21:39") >= 0)
{
Serial.println("Circuit lab manual has been recognized");
}
else if(strID.indexOf("AB:C6:20:39") >= 0)
{
Serial.println("Electronic lab manual has been recognized");
}
else if(strID.indexOf("") >= 0)
{
Serial.println("No book detected");
}

rfid.PICC_HaltA();
rfid.PCD_StopCrypto1();
}

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 Appendix E: Operation Manual

This robot was made to help students and instructors in receiving and returning books.

The project works in 2 modes: The first one is bringing the books to the home station, and the
second one is returning books to the shelf before returning to home station.

1. Bringing the books:

 Determining the type of the book using four digits code typed in keypad.
 The keypad sends the signal to the Arduino.
 The Arduino sends the signal to the motor and the pixy cam to follow the designated
line to the right shelve.
 The Arduino sends the signal to the stepper motor to move up/down to make the plate
in the right position.
 The Arduino sends the signal to the actuator (Hand) to move inside the shelf, and the
electromagnet attached to the actuator end will pull the book.
 The robot will move to the base station by following back the same line.

2. Returning the books:

 Students / instructors will but the book in the robot plate and the RFID will recognize
the code and send it to the Arduino.
 The Arduino sends the signal to the motor and the pixy cam to follow the line to the
right shelve.
 The Arduino sends the signal to the stepper motor to move up/down to make the plate
in the right shelf position.
 The Arduino will send the signal to the extension to push the book inside the shelf in
the right location.
 The robot will move back to the base station by following the same line.

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