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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The Problem

Reconnaissance is always important for the military

With importance of human lives, robots are a perfect replacement.

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A Scenario

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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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Block Diagram

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Flow Chart

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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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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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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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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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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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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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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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Software GUI (simulated)

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Software GUI (simulated)

 

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Software GUI (simulated)

 

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

Room Scenario

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Room Scenario (actual)

 

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Resulting GUI (actual)

 

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Current Cost Breakdown

PARTS / BUDGET• Ultrasound Sensor $28• Stepper Motor $15• Arduino Clone (ATmega168) Free (M5)

Total $43

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Gantt Chart

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Next steps

Complete system integration Robot base/Movement

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Questions?

Questions? Comments?