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David Chriss, Omar Atallah, and Doug Eggleston ECE498X – Fall 2010

Disaster Bot. David Chriss, Omar Atallah, and Doug Eggleston ECE498X – Fall 2010 Advisors: Larry Sieh and Dr. John Miller Department of Electrical and Computer Engineering. Project Scope. Wireless controlled 4 wheeled robot Mounted pan/tilt IP webcam Mounted pan/tilt DSLR camera

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David Chriss, Omar Atallah, and Doug Eggleston ECE498X – Fall 2010

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  1. Disaster Bot David Chriss, Omar Atallah, and Doug Eggleston ECE498X – Fall 2010 Advisors: Larry Sieh and Dr. John Miller Department of Electrical and Computer Engineering

  2. Project Scope • Wireless controlled 4 wheeled robot • Mounted pan/tilt IP webcam • Mounted pan/tilt DSLR camera • Wireless transmission of pictures • Stitched pictures to form 360 ° x 180 ° view of surrounding • Voice detection with two way voice communication and wireless volume control • Used for disaster areas

  3. Design Requirements • IEEE 802.11g Wireless communication • IEEE 802.3 (Ethernet) communication • 12V and 5V auxiliary power • USB and Serial communication • USB Server (USB to Ethernet bridge) • USB to TTL

  4. Subsystems • Robot Design and Control – David Chriss • Dual stick controller, router, LAN network, robot chassis, IP webcam, and USB server • Camera Design and Control – Omar Atallah • DSLR camera and mount control, and picture transmission and Panorama production • Two-way audio communication - Doug Eggleston • Audio amplifier and volume control

  5. Subsystem Communication DSLR Camera Mount PC #1 DSLR Control USB to TTL DSLR Camera 802.11g Router Router USB Server PC #2 Robot / IP cam Control Ethernet USB to Serial IP webcam Robot USB Mono Audio Controller Audio Amplifier and Speaker

  6. Robot Design and Control • Pioneer 3-AT • Embedded software libraries within robots P3-SH microcontroller with ARCOS (Advanced Robot Control and Operations Software)

  7. Robot Design and Control (continued) • Barrel plug connectors used to connect Pioneer 3-AT auxiliary power ports to router, web cam, and USB server • Front-mounted IP web cam used for navigation • Top-mounted Linksys WRT54 Wireless-G Router used for communication • Script written with AutoHotKey (open-source) to control command-prompt based robot • navigation and proprietary webcam • software with dual stick game pad

  8. Robot and IP Camera Control Layout Deactivate Robot Activate Robot Start/Stop Two-Way Communication Set Camera to forward position Cam Cruise Mode Set Cam to max left position Cam Horizontal Patrol Set Cam to max right position Cam Vertical Patrol Manual Cam Control Manual Robot Navigation

  9. Camera Design • Capture multiple images to produce 360 virtual tour of area. • Camera rotates to take images • Images wirelessly transmitted to workstation • Images converted into virtual tour (Stitching) • High quality 360 ° x 180 ° Panorama

  10. Panoramic Hardware • DLSR Camera : Canon Rebel T1i • Lightweight / Durable Construction • Manual Control • Focus / Exposure / White Balance • Remote Shooting • Lens : Sigma 8mm Fisheye • Large Field of view • Less photos, Faster process

  11. Panoramic Hardware • Panohead : Sky-Watcher 80ARS • Designed for astronomical use • 2 Axis motorized mount with electronic controller • Removable telescope attachment • 2.5 mm Phono jack for shutter release • USB to TTL Level Converter Module: • Model # MOL-CV401s • RJ-11 and USB

  12. Panoramic Software • Mount Control Software : Papywizard 2.0.1 • Controls astronomical mounts/ panoheads • Freeware/Multiplatform • Graphical user Interface • Camera/ mount rotation parameters • Panoramic Stitching Software : PTGui 8.3.1 • Tab by Tab • Supports Fisheye lens • Template • Canon EOS Utility For Remote Camera Setting

  13. Panoramic Setup • Camera/Lens attached to Mount • Camera rotates around the nodal point of lens to avoid stitching errors • Nodal Point = No Parallax • Fixed manual settings • 4 Horizontal pictures @ 90° ( + 1 zenith )

  14. Workflow • Adjust Camera settings if needed • Initiate shoot sequence • Access pictures • Load into PTGui and create panorama Panoramic Video

  15. Audio Design • 2-way voice transmission via IP Camera • “Loud enough” volume • Base station voice can be easily heard from a fair distance • Volume controlled to adjust amplification to fit the environment Base Station Pioneer Robot

  16. Audio Design - Amplifier • IP Camera audio signal measured at 2.5mV and is very quiet • A small amplifier will be built • 12VDC power available on robot • Designed for 1 watt of peak power output Measurements: Gain/Input sensitivity, Current draw/Rin, Power output

  17. Audio Design – Calculations

  18. Audio Design – Wireless Volume Control ~300m with line of sight, 434Mhz

  19. Conclusion • Robot and IP Camera successfully controlled wirelessly with dual stick gamepad • Voice successfully amplified, volume control is nearing completion • Successfully transmitted pictures and stitched together to create a 360 ° x 180 ° panorama

  20. Acknowledgements • Larry Sieh • Dr. Nattu • Dr. Miller • MobileRobots Inc

  21. Thank you all for attending our presentation! Any questions or comments?

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