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MAPPER: A Perfectly Portable Exploration Robot

MAPPER is a portable exploration robot designed to replace humans in military reconnaissance. It captures information about its surroundings and transfers data wirelessly for constructing a 2D bird's eye view of the environment. The robot is low power, low cost, and uses a simple trigonometry algorithm to eliminate blind spots. The goal is to have a working sensor array on a non-moving reference to create a map.

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MAPPER: A Perfectly Portable Exploration Robot

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  1. MAPPER: A Perfectly Portable Exploration Robot Rohan Balakrishnan (CSE)  Conan Jen  (EE) Andrew Lok (EE) Jonathan Tang (EE)

  2. The Problem • Reconnaissance is always important for the military • With importance of human lives, robots are a perfect replacement.

  3. A Scenario

  4. 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

  5. Block Diagram

  6. Flow Chart

  7. 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

  8. 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

  9. 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

  10. Ultrasound Sensor • Controlled directly from the Arduino • Returns 4 ASCII characters (First character 'R' followed by distance) • Output is inverted • Range is 255 inches

  11. 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. 

  12. 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. 

  13. 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

  14. Software GUI (simulated)

  15. Software GUI (simulated)

  16. Software GUI (simulated)

  17. Room Scenario Figure: 3-D model of M-5 study room.

  18. Room Scenario (actual)

  19. Resulting GUI (actual)

  20. Current Cost Breakdown • PARTS / BUDGET • Ultrasound Sensor $28 • Stepper Motor $15 • Arduino Clone (ATmega168) Free (M5) • Total $43

  21. Gantt Chart

  22. Next steps • Complete system integration • Robot base/Movement

  23. Questions? • Questions? Comments?

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