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					             Trojan Horse II
The Fully Automated Seed Planting System
               With Route Optimization Algorithm

                                Group Member
                                Adrianna Gabriel
                                Sonya Manzoor
                                 Andres Portilla
                                  Kevin Shaw
                                Cristian Vergara


   Fully Automated Seed Planting System            May 20, 2007
                Project Objectives
Design and construct a system capable of automatically
    planting seeds according to a user defined layout




                 +                              =




       Fully Automated Seed Planting System May 20, 2007
                     System Structure
  INPUT                       CALCULATION                      EXECUTION




 G.U.I.




                      Server &                                     Planter
                      Controller             Routing
                                            Algorithm
Database

           Fully Automated Seed Planting System May 20, 2007
                    Planter Top View
      Driving Wheels


                                                          Microcontroller




                                                               Bluetooth
                                                              Transceiver
Seed Dispenser
                 Main Power Supply

          Fully Automated Seed Planting System May 20, 2007
                           Input


Fully Automated Seed Planting System   May 20, 2007
                  The Idea




Fully Automated Seed Planting System May 20, 2007
   Graphical User Interface




Fully Automated Seed Planting System May 20, 2007
                     3. Modify Preferences




      Email
Text Message
  On-Screen




               Fully Automated Seed Planting System May 20, 2007
         2. Add Information to Database




                     Assist Novice Gardeners
 Add new seed information manually           Update seed information

            Fully Automated Seed Planting System May 20, 2007
                          1. Planting



    Season
Flower Type



Flower Color




          Fully Automated Seed Planting System May 20, 2007
   Layout Specification Grid


                                       Location

                                       Color

                                       Planting pattern/design

                                       Obstacles




Fully Automated Seed Planting System May 20, 2007
                      Load Planter

User needs to load the appropriate chamber with the
color designated in the Planting screen.




                                      1 2              3 4



       Fully Automated Seed Planting System May 20, 2007
            Position Planter




                           At this point the user needs to
                           place the planter at the planting
                           start position.




Fully Automated Seed Planting System May 20, 2007
                 Calculation



Fully Automated Seed Planting System   May 20, 2007
              Traveling Salesman Problem &
                Nearest Neighbor Heuristic
                                            Nearest Neighbor Heuristic

                                            Simplest attempt at solution

                                            Route calculation based next
                                            nearest point

                                            Calculate routes starting from all
Traveling Salesman Problem                  cities

Visit all cities exactly once              Choose the shortest of all


Travel the shortest total distance



             Fully Automated Seed Planting System May 20, 2007
            Limitations of the NNH


Constraints                              NNH               Ours
Starting node                            Unknown           (0,0)

Passing through visited points           Possible          Never

Breaking ties                            Arbitrary         Logically

Ending node                              Origin            Last



       Fully Automated Seed Planting System May 20, 2007
    Routing - Layout Matrix


                                1       2      0    2   1
                                1       2      2    2   1
                                1       1      2    1   1
                                2       1      2    1 2
                                2       1      2    1 2


Fully Automated Seed Planting System May 20, 2007
  Routing - Distance Matrix
                                     Distance matrix




Fully Automated Seed Planting System May 20, 2007
                             Routing
Distance matrix

                                   0      1.3 9999 3.3             4

                                   1     1.71 2.54 3.46 4.12

                                   2      2.24 3.13 3.61 4.47
Layout matrix
                                  3.3     3.16 3.91 4.24 5.3

                                  4.3     4.12 4.77           5   5.96


          Fully Automated Seed Planting System May 20, 2007
  Routing - Distance Matrix
                                     Distance matrix




Fully Automated Seed Planting System May 20, 2007
                               Routing
Distance matrix

                                   9999 1.71 9999 3.46 4.12

                                     0      1.3     2.3         3.3   4

                                     1      1.41 2.54 3.16 4.12
Layout matrix
1 2 0 2 1
0                                   2.3     2.24 3.13 3.61 4.77
1   2   2   2   1
1   1   2   1   1                   3.3     3.16 3.91 4.24 5.3
2   1   2   1   2
2   1   2   1   2
            Fully Automated Seed Planting System May 20, 2007
    Dynamic Decision Matrix
FIRST                                            SECOND



                     DISTANCE




                    WEIGHTED
                    DISTANCE



 Fully Automated Seed Planting System May 20, 2007
Optimization Logic Example

                       
                       ?




Fully Automated Seed Planting System May 20, 2007
                Communication Process

                      Check for
 Establish
                      Unplanted          no      Notify User       Finish
Connection
                       Seeds


                          yes

                       Calculate
                                                Execute
                      Direction of
                                               Command
                         Travel
                yes
                                                                Confirm
                                                               Execution


                                  Receive
                                Confirmation


   Alert User           no




         Fully Automated Seed Planting System May 20, 2007
                   Execution


Fully Automated Seed Planting System   May 20, 2007
             Demonstration




Fully Automated Seed Planting System May 20, 2007
             Demonstration




Fully Automated Seed Planting System May 20, 2007
      Demonstration Video




Fully Automated Seed Planting System May 20, 2007
                 Conclusion


Fully Automated Seed Planting System   May 20, 2007
          Conclusion: IE Application

 Industrial Information Systems
 Design of Engineering Systems
 Deterministic Models
 Elements of Electrical Engineering
 Manufacturing Processes
 Visual Basic Programming




         Fully Automated Seed Planting System May 20, 2007
 Conclusion: IE Integration

                          People

          Processes
                                   Information




                          IE       Communication
           Optimization

                      Equipment




Fully Automated Seed Planting System May 20, 2007
                 Questions




Fully Automated Seed Planting System May 20, 2007

				
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