1 / 24

Advisor: Frank Hludik

Advisor: Frank Hludik. Project Goals. Design and assemble a versatile, remote controlled surveillance robot Minimize fabrication expenses. Practical Uses. Bomb Defusal Hostage Situation Hazardous Chemical Environments Battlefield Reconnaissance Proactive Surveillance. Honors Thesis.

tyrone
Download Presentation

Advisor: Frank Hludik

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Advisor: Frank Hludik

  2. Project Goals • Design and assemble a versatile, remote controlled surveillance robot • Minimize fabrication expenses

  3. Practical Uses • Bomb Defusal • Hostage Situation • Hazardous Chemical Environments • Battlefield Reconnaissance • Proactive Surveillance

  4. Honors Thesis • Significance of Unpersoned Robots • Background / History of Robotics • Contribution Elaboration

  5. Design Inspiration Sources • Recon Scout XT iRobot 510 PackBot

  6. Recon Scout XT • Advantages • Small Weight • Quick Deployment • Night Vision • Disadvantages • Limited Functionality • Limited Durability

  7. iRobot 510 PackBot • Advantages • Open Ended Functionality • Durability • Night Vision • More Informative Feedback • Disadvantages • Longer Setup Time • Cumbersome

  8. Stability Wide body provides stable base for arm

  9. Stair Climbing Short body creates low center of gravity Maximum Stair Rise: 8 ¼ inches Minimum Stair Run: 9 inches

  10. Camera Arm

  11. Camera Arm Motion Worm gear transmission for bottom of arm Custom mount for ‘elbow’ joint Dual axis pan-and-tilt camera mount

  12. Video Camera • 802.11n v2.0 Compliant WiFi • 640x480 pixel resolution • 44 degree viewing angle • In/Out ports to network alarm systems • Omnidirecional Mic and Speaker • Record video feed to disk

  13. Wireless Data Transmission • Two wireless channels to simplify design and maximize available bandwidth • Control link • Video Camera Link • Include provisions for loss of data/signal • Antennas will be an important design choice

  14. Control Link • Long range XBee 900MHz RF transceivers • Data transmission at 9600bits/s • Rated up to 1200ft indoors • GUI will send control data to Robot; Robot will send sensory data to GUI • Data will be transmitted between GUI and robot as string “packets” • Ex. “>L=128,R=255<“ • GUI will transmit packets at specified intervals so that robot can easily identify when link has been lost

  15. Video Camera Link • Point-to-point 802.11n WiFi connection between router and camera • Fast, tested, and reliable link with a large bandwidth • Data can be easily encrypted

  16. Microcontroller • Handles control of all systems on the robot • Communication with GUI • Motor control • Interface to component systems • Power management

  17. Arduino • Arduino Mega with Atmel ATmega1280 microcontroller • Open-source design with various code libraries to simplify implementation • Programming can be done in Arduino IDE or in Eclipse (with WinAVR plug-in) • Plenty of online support • Various component “shields” developed for Arduino microcontroller line

  18. Drive Motors Voltage: 12V Stall Current: 21.3A Torque: 98 in-lbs Weight: 2.6lbs

  19. Driver and Power Interface Microprocessor Drive Motors Arm Motors Motor Driver Power Control Motors Active Antenna Data Transmitters Camera GPS

  20. PCB Fabrication • Gerber Files • BATCH PCB

  21. Battery Considerations • Peak Current Considerations • Desired Run-time • Estimated Drive Current • Battery Options • NiMH Batteries • Lead Acid Batteries

  22. Budget • Total budget: $1,900 • Sources: • L-3 Insight Technology: $1,500 • ECE Department: $400

  23. Project Schedule

  24. Questions? ?

More Related