Project Three – There’s A Recyclable Among Us:

Design a System for Sorting and Recycling Containers

ENGINEER 1P13 – Integrated Cornerstone Design Projects

Tutorial: 03 & 15

Team: Mon-45

Danielle Fong (fongd5)

Milica Nenadovic (nenadovm)

Parth Kotecha (kotechap)

Alexander Verity (veritya)

Submitted: March 7, 2021

1P13 DP-3 Final Report Tutorial 03 & 15 Mon-45

Table of Contents
Academic Integrity Statement ...................................................................................................................... 3

Executive Summary ..................................................................................................................................... 4

Project Schedule .......................................................................................................................................... 5

Preliminary Gantt Chart ................................................................................................................................................................. 5
Final Gantt Chart ............................................................................................................................................................................ 6

Scheduled Weekly Meetings ......................................................................................................................... 7

Weekly Design Studio Agendas ...................................................................................................................................................... 7
Weekly Design Studio Meeting Minutes ........................................................................................................................................ 7

Design Studio Worksheets ........................................................................................................................... 9

List of Sources ........................................................................................................................................... 51

Appendices ................................................................................................................................................ 52
Modelling Diagrams.......................................................................................................................................................................52
Computer Code ..............................................................................................................................................................................56

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Academic Integrity Statement

The student is responsible for performing the required work in an honest manner, without plagiarism and
cheating. Submitting this work with my name and student number is a statement and understanding that this
work is my own and adheres to the Academic Integrity Policy of McMaster University.

Danielle Fong 400333388

The student is responsible for performing the required work in an honest manner, without plagiarism and
cheating. Submitting this work with my name and student number is a statement and understanding that this
work is my own and adheres to the Academic Integrity Policy of McMaster University.

Milica Nenadovic 400312492

The student is responsible for performing the required work in an honest manner, without plagiarism and
cheating. Submitting this work with my name and student number is a statement and understanding that this
work is my own and adheres to the Academic Integrity Policy of McMaster University.

Alexander Verity 400332643

The student is responsible for performing the required work in an honest manner, without plagiarism and
cheating. Submitting this work with my name and student number is a statement and understanding that this
work is my own and adheres to the Academic Integrity Policy of McMaster University.

Parth Kotecha 4000303078

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Executive Summary
The goal of this project was to design a system to sort recyclable containers and dispose each container into
their designated bins. The Q-arm was designed to sense the properties of a dispensed container and determine
whether it should be loaded onto the hopper of the Q-bot based off its bin location and weight. The Q-bot is
only capable of transporting 3 containers with a totaling weight of 90g or less. Therefore, a container can only
be transferred if it has the same bin destination as the container on the hopper, the totaling weight of containers
is 90g or less, and there aren’t already 3 containers on the hopper. Once the containers are transferred, the Q-bot
travels to the specified bin location to dump the containers. Since each bin is colour coded according to its bin
location, the Q-bot determines the correct bin location using a colour sensor. The Q-bot will pass through each
bin and check if the colour sensed matches the bin location. When it arrives at the correct bin location, the Q-
bot will stop and dump the containers. Once the hopper is empty, the Q-bot will execute a follow line function
that loops around the path and return home to its starting position for another cycle. To model a hopper to hold
and drop off recyclables, we decided a simple design would be best. Our design includes a hopper that is lifted
by an arm controlled by a rotary actuator. The arm is not attached to the hopper, it comes into contact with the
base of the hopper and pushes the hopper up. The hopper moves back down due to gravity. The hopper is
connected to the baseplate extension via an axle that goes through connectors and the baseplate extension holes.
The hoppers thin wall facing the bins was removed so the containers can slide out easier. Finally, in rest
position the hopper is held up by some stoppers attached to the baseplate for extra support.

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Project Schedule
Preliminary Gantt Chart

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Final Gantt Chart

Logbook of Additional Meetings and Discussions

Modelling Sub-team Meeting 1 (21/02/08)

- Discussed what to incorporate into the final design
- Work on the design in inventor
- Discuss when to meet next

Modelling Sub-team Meeting 2 (21/02/24)

- Work on the final design
- Finish up the design and pack and go
- Discuss how to prepare for the interview

Full Team Meeting 1 (21/03/01)

- Discuss what to put on the final report
- Discuss executive summary

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Scheduled Weekly Meetings

Weekly Design Studio Agendas
Milestone 1:
- Intro to meeting.
- No work done on project yet.

Milestone 2:
- Intro to meeting.
- Computing team: Review sensor research.
- Modelling team: Review preliminary sketches.
- Computing team: Discuss sensor choices.
- Modelling team: Discuss sketch choices.
- Questions & comments.

Milestone 3:
- Intro to meeting.
- Computing team: Discuss pseudocode.
- Modelling team: Review detailed sketches.
- Discuss milestone work.
- Questions & comments.

Milestone 4:
- Intro to meeting.
- Computing team: Discuss code progress.
- Modelling team: Discuss model progress.
- Discuss interview worries.
- Questions & comments.

Weekly Design Studio Meeting Minutes

Milestone 1:
Intro to meeting
- Introductions and hellos.
No work done on project yet.
- Discuss project modules.

Milestone 2:
Intro to meeting
- Everyone says hello.
Computing team: Review sensor research
- Both are done.
- Discuss ultrasonic sensors.

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Modelling team: Review preliminary sketches

- Both are done.
Computing team: Discuss sensor choices.
- Discuss the colour sensor.
Modelling team: Discuss sketch choices.
- Discuss simplest solution.
Questions & comments.
- No Questions

Milestone 3:
Intro to meeting.
- Everyone says hi.
Computing team: Discuss pseudocode.
- Voice nervousness related to coding.
- Discuss pseudocode definition.
Modelling team: Review detailed sketches.
- Inventor woes.
- Annoyance about software.
- Talk about what details to include.
Discuss milestone work.
- Already talked about future work before
Questions & comments.
- Offers to help from some members.

Milestone 4:
Intro to meeting.
- Everyone says hello.
Computing team: Discuss code progress.
- Coming along nicely, not finished yet.
- Discussing precision problems.
Modelling team: Discuss model progress.
- Coming along nicely, not finished yet.
- Need some refinements, like axle stoppers.
Discuss interview questions.
- Some ideas for questions to ask about modelling and coding.
- Discussing what we think they will say.
Questions & comments.
- No questions, will ask questions to interviewers

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Design Studio Worksheets

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List of Sources
[1] Ansys EduPack Software, Granta Design Limited, Cambridge, UK, 2009.

[2] “About Hall Sensors,” AKM [Online]. Available: https://www.akm.com/kr/en/technology/technical-

tutorial/basic-knowledge-magnetic-sensor/hall-sensors/. [Accessed: January 25, 2021].

[3] D. Jost, “What is an Ultrasonic Sensor?,” Fierce Electronics [Online]. Available:

https://www.fierceelectronics.com/sensors/what-ultrasonic-
sensor#:~:text=An%20ultrasonic%20sensor%20is%20an,sound%20that%20humans%20can%20hear).
[Accessed: January 25, 2021].

[4] K. Spurr, “How an LDR (Light Dependent Resistor) Works,” Kitronik [Online]. Available:
https://kitronik.co.uk/blogs/resources/how-an-ldr-light-dependent-resistor-
works#:~:text=An%20LDR%20is%20a%20component,used%20in%20light%20sensing%20circuits.
[Accessed: January 25, 2021].

[5] “Light Sensors,” Electronics Tutorials [Online]. Available: https://www.electronics-

tutorials.ws/io/io_4.html. [Accessed: January 25, 2021].

[6] “Detection based on ‘Light‘What is a Color sensor?,” KEYENCE. [Online]. Available:

https://www.keyence.com/ss/products/sensor/sensorbasics/color/info/. [Accessed: 25-Jan-2021].

[7] D. Jost, “What is an IR sensor?,” FierceElectronics, 30-Jul-2019. [Online]. Available:

https://www.fierceelectronics.com/sensors/what-ir-
sensor#:~:text=Active%20infrared%20sensors%20both%20emit%20and%20detect%20infrared%20radi
ation.&text=When%20an%20object%20comes%20close,(such%20as%20in%20robots). [Accessed: 25-
Jan-2021].

[8] “Retroreflective Sensors,” Photoelectric Sensors manufactured by Senasys. [Online]. Available:

http://senasysphotosensors.com/photoelectric-sensors/retroreflective-sensors. [Accessed: 25-Jan-2021].

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Appendices
Modelling Diagrams

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Arm

Axle

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Stopper

Hopper

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Exploded View

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Computer Code

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