Transcript Presentation_Final_10_1029x

Reconnaissance Robot
Project Proposal
Team Recon
-
Ruben Lalinde
Ben Major
Ben Minerd
Andrew Pavlik
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



Significance of Unpersoned Robots
Background / History of Robotics
Contribution Elaboration
Design Inspiration Sources

Recon Scout XT
iRobot 510 PackBot
Recon Scout XT

Advantages




Small Weight
Quick Deployment
Night Vision
Disadvantages


Limited Functionality
Limited Durability
iRobot 510 PackBot

Advantages





Open Ended Functionality
Durability
Night Vision
More Informative Feedback
Disadvantages


Longer Setup Time
Cumbersome
Stability
Wide body provides stable base for arm
Stair Climbing
Short body creates low center of gravity
Maximum Stair Rise: 8 ¼ inches
Minimum Stair Run: 9 inches
Camera Arm
Camera Arm Motion
Worm gear transmission for
bottom of arm
Custom mount for ‘elbow’ joint
Dual axis pan-and-tilt camera mount
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
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
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
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
Microcontroller

Handles control of all systems on the robot
 Communication
 Motor
with GUI
control
 Interface to component systems
 Power management
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
Drive Motors
Voltage: 12V
Stall Current: 21.3A
Torque: 98 in-lbs
Weight: 2.6lbs
Driver and Power Interface
Microprocessor
Drive Motors
Arm Motors
Motor Driver
Power Control
Motors
Active Antenna
Data Transmitters
Camera
GPS
PCB Fabrication
•Gerber Files
•BATCH PCB
Battery Considerations
•Peak Current Considerations
•Desired Run-time
•Estimated Drive Current
•Battery Options
•NiMH Batteries
•Lead Acid Batteries
Budget
•Total budget: $1,900
•Sources:
oL-3 Insight Technology: $1,500
oECE Department: $400
Description
Framework/Support
Body
Tracks
Arm
Communication
Motors
Power
Project Total
Proposed Budget
$137
$65
$343
$33
$300
$561
$238
$1677
Project Schedule
Questions?