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Advisor: Frank Hludik

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.

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Advisor: Frank Hludik

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  1. Advisor: Frank Hludik

  2. Project Goals • Design and assemble a versatile, remote controlled surveillance robot • Minimize fabrication expenses

  3. Practical Uses • Bomb Defusal • Hostage Situation • Hazardous Chemical Environments • Battlefield Reconnaissance • Proactive Surveillance

  4. Honors Thesis • Significance of Unpersoned Robots • Background / History of Robotics • Contribution Elaboration

  5. Design Inspiration Sources • Recon Scout XT iRobot 510 PackBot

  6. Recon Scout XT • Advantages • Small Weight • Quick Deployment • Night Vision • Disadvantages • Limited Functionality • Limited Durability

  7. iRobot 510 PackBot • Advantages • Open Ended Functionality • Durability • Night Vision • More Informative Feedback • Disadvantages • Longer Setup Time • Cumbersome

  8. Stability Wide body provides stable base for arm

  9. Stair Climbing Short body creates low center of gravity Maximum Stair Rise: 8 ¼ inches Minimum Stair Run: 9 inches

  10. Camera Arm

  11. Camera Arm Motion Worm gear transmission for bottom of arm Custom mount for ‘elbow’ joint Dual axis pan-and-tilt camera mount

  12. 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

  13. 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

  14. 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

  15. 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

  16. Microcontroller • Handles control of all systems on the robot • Communication with GUI • Motor control • Interface to component systems • Power management

  17. 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

  18. Drive Motors Voltage: 12V Stall Current: 21.3A Torque: 98 in-lbs Weight: 2.6lbs

  19. Driver and Power Interface Microprocessor Drive Motors Arm Motors Motor Driver Power Control Motors Active Antenna Data Transmitters Camera GPS

  20. PCB Fabrication • Gerber Files • BATCH PCB

  21. Battery Considerations • Peak Current Considerations • Desired Run-time • Estimated Drive Current • Battery Options • NiMH Batteries • Lead Acid Batteries

  22. Budget • Total budget: $1,900 • Sources: • L-3 Insight Technology: $1,500 • ECE Department: $400

  23. Project Schedule

  24. Questions? ?

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