2024 ASEE Annual Conference & Exposition

Project of a Self-Balancing Robot Using a PIC Microcontroller

Presented at Project-Based Learning Enhanced through Instrumentation

The project developed as part of the subjects Instrumentation, Embedded and Control Systems, studied in the fourth year of the Control and Automation Engineering course at the Mauá Institute of Technology, aims to create a robot that simulates the behavior of an inverted pendulum. This implies designing a robot capable of autonomously balancing on two wheels, interpreting data provided by sensors, and taking actions based on that data. This project provides an opportunity for the practical application of the concepts covered in these subjects, emphasizing the integration of knowledge in a single project. An inverted pendulum is an unstable system since its center of mass is located above the pivot point, tending to fall. To keep the system in balance, it is necessary to incorporate key elements, including a measurement unit that combines a 3-axis accelerometer and a 3-axis gyroscope, stepper motors as actuators, and a PIC microcontroller. After the mechanical and electronic construction of the robot, the next step is processing sensor data through developed software to obtain more precise and stable readings. Then, a PID controller is implemented, responsible for adjusting the position of the support point and the applied force to maintain the robot's balance continuously. The angle at which the robot is in relation to the ground is visible through an application that connects to the system via a Bluetooth module. During the project's development, it was possible to recognize the importance of certain aspects to ensure the effective performance of the system. Firstly, there is the need for a robust physical structure that ensures the alignment of the robot's wheels and the correct distribution of its mass. Furthermore, it is essential to ensure the proper synchronization of the control loop with the previously defined sampling period to allow the controller to react consistently to possible disturbances. These findings play a crucial role in the successful development and operation of the system. At the end, will be presented as well as student evaluation, and they learn related to ABET outcomes.

Authors

Prof. Fernando Silveira Madani http://orcid.org/0000-0002-5576-1494 Mauá Institute of Technology [biography]

Fernando Silveira Madani received the B.S (1998) in Mechatronics Engineering from the Univ. Paulista – Brazil, the M.S. (2002) and Ph.D. (2010) from the Aeronautical Institute of Technology (ITA) - Brazil. In 2002, he joined the faculty of the Dept. of Mechanical Engineering, Mauá Institute of Technology – Brazil, where he is currently as a full professor and Head of the Mechatronics Engineering program. His main research interests include, robotics, advanced manufacturing systems, embedded systems, and autonomous mobile robots. Since 2014 is an INEP (agency linked to the Ministry of Education) advisor, to promote the evaluation and improvement of undergraduate courses in mechatronics engineering in Brazil.
Mrs. Andressa Corrente Martins Instituto Maua de Tecnologia [biography]

Andressa Martins is holds a master's degree in Aerospace Systems and Mechatronics with a focus on Robotics from the Aeronautics Institute of Technology and a degree in Control and Automation Engineering from the Universidade Paulista. Currently, she is a professor at the Mauá Institute of Technology. She has experience in the field of Control and Automation Engineering (Mechatronics), working mainly on the following topics: Intelligent Systems, Digital Twin, Industrial Automation, Instrumentation, Robotics, Mechanism Design, and Engineering Fundamentals.
Julia Meneses Roberto Instituto Mauá de Tecnologia [biography]

I have technical training in mechatronics from Senai Almirante Tamandaré, completed in 2019, and I am currently a student on the Control and Automation Engineering course. Additionally, I work as a project monitor at Instituto Mauá de Tecnologia, where I have been working on the development of a unified module for instrumentation and monitoring of bridges and viaducts. Furthermore, I have experience in the field of robotics, resulting from my participation in academic competition teams. In this context, I highlight my work in projects related to autonomous robots, in which I was able to apply theoretical and practical knowledge acquired throughout my academic and professional career.
Marcelo Sacilotti Villas Boas [biography]

Control and Automation Engineering student in Instituto Maua de Tecnologia, interested in subjects like mechanics, electronics, programming and control, works as intern at Instituto Maua de Tecnologia in a autonomus vehicles research group.
Dr. Anderson Harayashiki Moreira http://orcid.org/https://0000-0002-3598-9504 Instituto Mauá de Tecnologia [biography]

Graduated in Control and Automation Engineering from Instituto Mauá de Tecnologia (IMT) (2008). Master in Mechatronics Engineering from the Instituto Tecnológico de Aeronáutica (ITA) (2011). PhD in Mechatronics Engineering from the Instituto Tecnológico de Aeronáutica (ITA) (2017). He is currently a professor at the Instituto Mauá de Tecnologia. He develops activities and research in the area of mobile autonomous robotics, control systems, industrial robotics and microcontroller systems.
Alexandre Harayashiki Moreira http://orcid.org/0009-0005-3876-9071 [biography]

Alexandre Harayashiki Moreira received M.S. (2017) in multirobot system from UFABC Univ., Brazil. Since 2016, he has been a Member of Control & Automation Research group at Maua Institute of Technology focused on autonomous robots and smart cities.

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