advisor: frank hludik
DESCRIPTION
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. - PowerPoint PPT PresentationTRANSCRIPT
![Page 1: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/1.jpg)
- Team Recon
Project ProposalReconnaissance Robot
Ruben LalindeBen MajorBen MinerdAndrew Pavlik
Advisor: Frank Hludik
![Page 2: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/2.jpg)
Project Goals
Design and assemble a versatile, remote controlled surveillance robot
Minimize fabrication expenses
![Page 3: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/3.jpg)
Practical Uses
Bomb Defusal Hostage Situation Hazardous Chemical Environments Battlefield Reconnaissance Proactive Surveillance
![Page 4: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/4.jpg)
Honors Thesis
Significance of Unpersoned Robots Background / History of Robotics Contribution Elaboration
![Page 5: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/5.jpg)
Design Inspiration Sources Recon Scout XT iRobot 510 PackBot
![Page 6: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/6.jpg)
Recon Scout XT
Advantages Small Weight Quick Deployment Night Vision
Disadvantages Limited Functionality Limited Durability
![Page 7: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/7.jpg)
iRobot 510 PackBot
Advantages Open Ended Functionality Durability Night Vision More Informative Feedback
Disadvantages Longer Setup Time Cumbersome
![Page 8: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/8.jpg)
Stability
Wide body provides stable base for arm
![Page 9: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/9.jpg)
Stair Climbing
Maximum Stair Rise: 8 ¼ inchesMinimum Stair Run: 9 inches
Short body creates low center of gravity
![Page 10: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/10.jpg)
Camera Arm
![Page 11: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/11.jpg)
Camera Arm Motion
Dual axis pan-and-tilt camera mount
Worm gear transmission for bottom of arm
Custom mount for ‘elbow’ joint
![Page 12: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/12.jpg)
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
![Page 13: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/13.jpg)
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
![Page 14: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/14.jpg)
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
![Page 15: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/15.jpg)
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
![Page 16: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/16.jpg)
Microcontroller Handles control of all systems on the
robot Communication with GUI Motor control Interface to component systems Power management
![Page 17: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/17.jpg)
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
![Page 18: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/18.jpg)
Drive Motors
Voltage: 12VStall Current: 21.3ATorque: 98 in-lbsWeight: 2.6lbs
![Page 19: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/19.jpg)
Driver and Power Interface
Microprocessor
Motor Driver
Power Control MotorsActive AntennaData TransmittersCamera
Drive Motors
Arm Motors
GPS
![Page 20: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/20.jpg)
PCB Fabrication
•Gerber Files•BATCH PCB
![Page 21: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/21.jpg)
Battery Considerations
•Peak Current Considerations•Desired Run-time•Estimated Drive Current•Battery Options
• NiMH Batteries• Lead Acid Batteries
![Page 22: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/22.jpg)
Budget•Total budget: $1,900•Sources:oL-3 Insight Technology: $1,500oECE Department: $400
Description Proposed BudgetFramework/Support $137Body $65Tracks $343Arm $33Communication $300Motors $561Power $238Project Total $1677
![Page 23: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/23.jpg)
Project Schedule
![Page 24: Advisor: Frank Hludik](https://reader035.vdocuments.net/reader035/viewer/2022081420/56815b92550346895dc996e5/html5/thumbnails/24.jpg)
Questions?
?