MAPPER: A Perfectly Portable Exploration Robot
description
Transcript of MAPPER: A Perfectly Portable Exploration Robot
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SDP 2009 Team Siqueira
Rohan Balakrishnan (CSE) Conan Jen (EE)Andrew Lok (EE)
Jonathan Tang (EE)
MAPPER: A Perfectly Portable Exploration Robot
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2SDP 2009 Team Siqueira
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SDP 2009 Team Siqueira
Overview of Presentation• Brief overview of our project. • The problem that we are addressing.• Our implementation of the solution.• Cost break-down• What we plan for demo day. • Demonstration
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SDP 2009 Team Siqueira
The Problem• Reconnaissance is always important for the military and
search and rescue teams.• With importance of human lives, robots are a perfect
replacement.• Solution would be something small, and expendable.
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SDP 2009 Team Siqueira
Our Solution• Robotic platform capturing information about its
surroundings• Wireless communication link will transfer data back to
PDA or laptop• Transferred data is then used to construct a 2-D bird's
eye view of the environment
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SDP 2009 Team Siqueira
• Specs met are in boldo Scan scope: 20'x20' indoor roomo Method: Ultrasonic sensor mounted on stepper motor for
360 degree rotationo Scan time: 5-15 mins (to complete 20'x20' room)o Minimum detectable obstruction size: 1'x1'o Wireless communications: 100+ fto Weight: 1-2lbso Expected Battery Life: 10 rooms per charge
CDR Specifications
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SDP 2009 Team Siqueira
Flow chart of system
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SDP 2009 Team Siqueira
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9SDP 2009 Team Siqueira
Power
Hello
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SDP 2009 Team Siqueira
PCB Layout
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11SDP 2009 Team Siqueira
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SDP 2009 Team Siqueira
Picture of robot3.7'' diameterMin Operating Voltage: 3VMax Operating Voltage: 7VPowered by: AAA batteries (x4)
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SDP 2009 Team Siqueira
• Initial concerns were going straight• Had issues with both DC motors outputting the same• Found that motor 1 has problems with speeds from 0-
30• Added a digital compass to our system • Found method of calibrating and correcting heading
Movement
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14SDP 2009 Team Siqueira
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15SDP 2009 Team Siqueira
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16SDP 2009 Team Siqueira
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17SDP 2009 Team Siqueira
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18SDP 2009 Team Siqueira
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19SDP 2009 Team Siqueira
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SDP 2009 Team Siqueira
Demo Day• How do we expect to demo?
o Small model room with a few objects in ito A laptop set up for the GUI
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SDP 2009 Team Siqueira
Demo
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22SDP 2009 Team Siqueira