You have been asked to design and develop a line following mobile robot for a warehouse. Figure shows the setup of the warehouse. The robot will be loaded with goods at the docking station by a human operator. The assigned operators at the unloading bays (A, B, and C) will unload the necessary goods after the robot stops. A push button installed on the robot will give the command to move at each docking station/unloading bay, which will be pressed by the relevant operator after loading/unloading goods. The robot will stop at unloading bays according to the following conditions.

If the weight is less than 1kg, the robot will go to A and return to the docking station.

If the weight is between 1-2 kg the robot will go to A and B, and then return to the docking station.

If the weight is between 2-3 kg the robot will go to A, B, and C, and then return to the docking station.

If the weight is greater than 3kg the robot will not move at all.

Two-wheel differential drive will control the robot navigation and will be guided by a line installed on the floor. Answer the following questions clearly describing assumptions you made.

a) Choose a suitable micro-controller to control the robot and provide reasons why you chose it.

b) The docking station and A, B, C unloading bays will be detected by proximity sensor/s installed on the robot. Choose appropriate sensor/s and describe how to incorporate them into the system. You may use a diagram to express your ideas.

c) An analog weight sensor (loadcell) should be configured to measure the weight of the goods. Find and appropriate sensor according to given conditions. Draw a wiring diagram and write an Arduino code to read the measurements and debug it with serial communication.

d) Copy the diagram of the warehouse layout and show how you will install the line. Choose a color for the line and sensors that can be used to detect line. Justify your answers.

e) Illustrate an appropriate free hand sketch or computer-aided draft of the robot design. Show how the micro-controller board, wheels, and sensors will be installed.

f) Use the following guidelines to build a fully functional Arduino code to operate the robot. Make sure the entire code is readable. You may use arrays, constants, and functions to make the code more organized and comprehensive. Furthermore, it is highly recommended to use comments to deliver an informative code. First, draw a flow chart to depict the algorithm.

i. Write a function to debounce the push button programmatically.

ii. Use online resources to find motor control driver and write proper functions to move forward, turn right/left and stop the robot.

iii. Use the line detecting sensors to follow the line when the push button is pressed. Build an algorithm to follow the line.

iv. Integrate the weight sensor code (done in part c) to navigate according to the given conditions. The proximity sensor/s (part b) should be used to track down the docking station/unloading bays. The relevant operator will press the push button after unloading the goods at the respective bay.

v. Design and develop the code to return the robot back to the docking station. Highlight design specifications (in robot and line) you will be adhered to make sure it will return. You may use separate diagram to describe how your algorithm works.

g) Draw a wiring diagram to show the connections between the Arduino and other components. The diagram should be very clear to identify the connecting paths.

h) Explore other applications and scenarios where the mobile robots are used in the industry. Find two examples of commercial mobile robots and their usage.