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1SDP09 Team Siqueira
Rohan Balakrishnan (CSE) Conan Jen (EE)Andrew Lok (EE)
Jonathan Tang (EE)
MAPPER: A Perfectly Portable Exploration
Robot
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2SDP09 Team Siqueira
The Problem
Reconnaissance is always important for the military
With importance of human lives, robots are a perfect replacement.
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3SDP09 Team Siqueira
A Scenario
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4SDP09 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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5SDP09 Team Siqueira
Block Diagram
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6SDP09 Team Siqueira
Flow Chart
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7SDP09 Team Siqueira
PDR Retorts
Potential market (the military, search and rescue teams)• Low Power• Low Cost (estimated final device cost $300)• Portable• Expendable
Software algorithm• Is not computationally intensive• Simple trigonometry• Overlaying points eliminates blind spots
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8SDP09 Team Siqueira
MDR Specifications (Goal)
Working sensor array on non-moving reference(have multiple different reference points and combine it into a map)
Working software which will take distance measurements and display them on Java GUI.
No wireless for now
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9SDP09 Team Siqueira
MDR Specifications
Specs met are in bold Scan scope: 20'x20' indoor room Method: Ultrasonic sensor mounted on
stepper motor for 360 degree rotation Scan time: 5-15 mins (to complete 20'x20'
room) Minimum detectable obstruction size: 1'x1' Semi Autonomous movement Wireless communications: 100+ ft Weight: 1-2lbs Expected Battery Life: 10 rooms per charge
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10SDP09 Team Siqueira
Ultrasound Sensor
Controlled directly from the Arduino Returns 4 ASCII characters (First character 'R'
followed by distance) Output is inverted Range is 255 inches
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11SDP09 Team Siqueira
Stepper Motor
Motor is connected to 4 pins leading out from the Arduino development board.
Draws on 5V power supply from Arduino.
Performs full 360 degree sweep and reset back to starting position in less than 10 seconds.
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12SDP09 Team Siqueira
Arduino
We decided to use a standard Arduino development board with the Atmega 168 microcontroller.
Data received from ultrasound via Serial is captured using a Java program.
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13SDP09 Team Siqueira
Software (Algorithm)
Java GUI takes input from text file (distances) Distances recorded = polar graph of closest
objects Polar data converted to Cartesian Data from multiple ranging points combined Plots overlaid to triangulate on obstructions More result measurements = more accurate plot Simulated room before starting with real data
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14SDP09 Team Siqueira
Software GUI (simulated)
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15SDP09 Team Siqueira
Software GUI (simulated)
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16SDP09 Team Siqueira
Software GUI (simulated)
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17SDP09 Team Siqueira
Figure: 3-D model of M-5 study room.
Room Scenario
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18SDP09 Team Siqueira
Room Scenario (actual)
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19SDP09 Team Siqueira
Resulting GUI (actual)
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20SDP09 Team Siqueira
Current Cost Breakdown
PARTS / BUDGET• Ultrasound Sensor $28• Stepper Motor $15• Arduino Clone (ATmega168) Free (M5)
Total $43
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21SDP09 Team Siqueira
Gantt Chart
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22SDP09 Team Siqueira
Next steps
Complete system integration Robot base/Movement
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23SDP09 Team Siqueira
Questions?
Questions? Comments?