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Autonomous Ground-Based Robot for Mine Detection and Neutralization

This project focuses on designing and developing a compact, ground-based autonomous robot for detecting and neutralizing mines. It addresses the global issue of mine use, which poses threats to civilian life and land use. The robot will feature autonomous navigation, obstacle avoidance, and efficient mine detection capabilities. With a size limitation of 16”x16”x16”, the robot aims to ensure safe and cost-effective mine clearance, targeting military and civilian needs. The team consists of skilled engineers responsible for various technical aspects, including microcontroller programming, power supply design, and sensor integration.

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Autonomous Ground-Based Robot for Mine Detection and Neutralization

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  1. 499 Senior Project Search & Destroy Designs

  2. Purpose Design and develop a ground-based autonomous robot for mine detection and neutralization.

  3. Background Worldwide Mine Use • Anti-Personnel – Both Military and Civilian • Preventing Land Cultivation • Road Closures • Community Isolation

  4. Benefits • Safe mine neutralization • Cost effective • Very reliable • Internationally marketable

  5. Project Parameters Robot • Must fit inside 16” x 16”x 16” • Autonomous Navigation • Line tracking • Obstacle avoidance • Mine detection/neutralization

  6. Team Members and Responsibilities Matthew Essenburg– Microcontroller / CPU Interface and Main Controller Implementation. Chris Figueroa – CPU Development / Main Controller Implementation and Microcontroller Interface. Jessica Hernandez – Power Supply Design and Ultra-Sonic (passive / active) Infrared Sensor Design. Ryan Jones – CPU / Main Controller Implementation and Motor Controller Development. Schuyler Lovoi – Power Supply Design and Motor Controller Development. Stefano Measho – Ultra-Sonic / Infrared Sensor Design and General Robot Layout.

  7. Power Supply 12 1.2v Batteries = 14.4v • NiMH (Nickel Metal Hydride) • Rechargeable • Cells: 3 Amp Hours

  8. Power Supply Multiple Power Needs • Motor: 12.0v • FPGA: 3.3v • Sensors: 5.0v or Higher

  9. Power Supply Linear Voltage Regulated Power Supply • Three or more Voltage Regulators • Motor: Unregulated • FPGA, Sensors: Regulated • Positive Fixed Regulator • Positive Adjustable Regulator

  10. Motor Control 4 12v DC Motors 4 LMD18200 Motor Controller Chips • Pulse width modulation from FPGA Infrared Wheel Encoder • QRB1134 infrared module • Reflectively taped wheels for encoding

  11. Motor Control 4 12v DC Motors • Generates motor controller pulse-width-modulation signal • Decodes IR wheel encoder data • Constant speed control (self adjusting) • Acceleration Control • Direction Control

  12. Motor Control

  13. Microcontroller • 5 Volt Power • PIC 12F675 (8-Pin) / 16F676 (17-Pin) • Main use analog/digital converter • Interfacing the sensors with FPGA • Controlling data flow (sampling rate)

  14. Printed Circuit Board Design • Circuitry Interfacing • Utilizing chassis space • Stable and reliable circuitry

  15. Central Processing • FPGA soft-core processor • Microcontroller / FPGA interfacing • Real-Time data analysis • Autonomous decision making

  16. Central Processing Digilent Pegasus Board • 50k-gate Xilinx Spartan 2 FPGA operating at 200MHz • Xilinx XCF01S Platform Flash ROM • 50MHz oscillator • PS/2 and VGA ports • 96 I/O signals routed to three 40-pin expansion connectors • I/O signal protection from ESD and short-circuit

  17. System Block Diagram

  18. Current Progress • Motor Compartment Fabrication • Motor Installation • Wheel Mounting • Motor Controller Development

  19. Future Development • Sensor interfacing • Microcontroller interfacing • Soft-core processor development • Power supply system development • Overall system development • Vehicle system test

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