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Semi-Autonomous Ice Detecting Robot

Semi-Autonomous Ice Detecting Robot. Naman Mehta | Tim Wang-Lee Ryan May – Spring 2012 ECE 445. What?. Goal : A robot that can detect ice, dispense salt , and be either directly controlled or semi-autonomous

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Semi-Autonomous Ice Detecting Robot

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  1. Semi-Autonomous Ice Detecting Robot Naman Mehta | Tim Wang-Lee Ryan May – Spring 2012 ECE 445

  2. What? • Goal: A robot that can detect ice, dispense salt , and be either directly controlled or semi-autonomous • Delivery: A robot that can detect ice and be either directly controlled or semi-autonmous. Ice detection circuitry not mounted on robot.

  3. Block Diagram

  4. The PC • Runs a GUI interface that communicates to Pandaboard. • GUI done using wxPython • Backend of interface done in C

  5. User Interface

  6. Status Panel • Gives user a information about the state of system • Connected • Robot status • Ice Detection

  7. The Control Modes • Three possible modes • Remote – Controlled • Initialization Phase • Autonomous

  8. Arrow keys • Controls the directions of the car.

  9. Wireless Network • wireless 802.11 network using sockets (TCP/IP) • Static IP address configuration

  10. Main Contoller • Pandaboard, an ARM platform • A “server” program which accepts connections from PC. • Command packets forwards to VCU (Wild Thumper Controller) • Respond to periodic “ALIVE?” pokes

  11. Pandaboard • Accepts 5V DC • HDMI • USB • SD card

  12. Vehicular Control • Receives commands from Pandaboard through USB • Controls motors • Requires external batteries source • Provides On-board charging

  13. I/O Board • Uses Teensy 2.0 Microcontroller • Reads analog inputs from detection circuitry • Outputs digital Low or High for indication

  14. Ice Detection • Uses LTE-301, LTR-302 Emitter Receiver pair • Tests for highly reflective surfaces (ice) • Has an Intensity indicator • Has connection indicator

  15. Detection mechanism Optimum distance for det. Emitter Receiver Optimum distance for det. Ground

  16. Schematics

  17. Power Unit • Provides ~5V and maximum 4A • Uses one 6V batteries and 6 AA s

  18. The Chassis • Wild Thumper 6WD

  19. Final Robo-Car

  20. Ethical consideration • High current draw from batteries to Pandaboard • High temperature of on-board charging circuit

  21. Credits

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