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Ant

Ant. Andrew May. EEL 5666 - Intelligent Machines Design Lab. April 18, 2006. Outline. Problem: Can’t reach a valuable Solution: Use Ant to retrieve the valuable Approach: Find valuable with sensors Progress: Implement with circuit boards Conclusion: Working prototype Issues: Diversify.

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Ant

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  1. Ant Andrew May EEL 5666 - Intelligent Machines Design Lab April 18, 2006

  2. Outline • Problem: Can’t reach a valuable • Solution: Use Ant to retrieve the valuable • Approach: Find valuable with sensors • Progress: Implement with circuit boards • Conclusion: Working prototype • Issues: Diversify

  3. Problem • NBC contamination • Mold: Hurricane aftermath • War zone • Disabled/Injured

  4. Solution

  5. Solution • Autonomous retriever named “Ant” • Ant’s behaviors: • Obstacle avoidance • Edge detection • Line-tracking • Color recognition • Follows in “Critter’s” legacy

  6. Approach • Actuation: Hacked servos • Stacked mobile platform • Lower level: Gripper, servos, line-tracker • Intermediate levels: Microcontroller and power • Upper level: Sonar, camera, and infrared detector • Simple design

  7. Approach • Sensors: • Sonar Rangers • Infrared (IR) Detector • Photoreflectors • Camera • Circuit Boards: • Atmel Atmega128 microcontroller (COTS) • Power and Line-tracker (In House)

  8. Progress • Ant’s power • 7805s – Servos and IRs • 7806 – Camera • UART interface • Runs up to five IRs • LCD compatible • Custom made

  9. Progress LINE-TRACKER BOARD

  10. Progress • Ant’s line-tracker board • Two Hamamatsu P5587 Photoreflectors • Custom made • Original P5587 footprint

  11. Progress • Other sensor details • Camera: • Carnegie Mellon University Camera One (CMUCam1) • Sonar Rangers: • Devantech SRF05 • IR Detector: • Sharp GP2Y0A02YK (For long-distances)

  12. Conclusion • All my goals met! • CMUCam is so easy to use, I was surprised. • I have issues

  13. Issues • Enhance user-interface • Make gripper more flexible • Use data of the CMUCam1 better

  14. Sponsors • Matt Yoder (Sp ‘04) for circuit boards • Fernando Hernandez (Su ’05) for mobile platform and software • Matt Moore, Senior Design TA, for power board resource • Drew, peer, for website • Foley, peer, for outside tools • Ken, peer, for sonar code

  15. For the latest details visit: <plaza.ufl.edu/amay> Questions?

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