Transcript Poster_FinalDesign_CDx

What is the
UNH Wireless Hummer?
Sensors
Team: Justin Audley, Blake Brown, Christopher Dean, Andrew Russell, Andrew Saunders
Advisor: Dr. Richard A. Messner
The
Sponsors: Dr. Richard A. Messner, UNH ECE Department
The UNH Wireless Hummer is an Unmanned
Ground Vehicle (UGV) controlled by a remote laptop
user over a wireless network. A UGV has several
applications and are widely used in the military to
survey unknown areas. Our UGV was designed to be
used in first response situations when surveying an
area could cause harm or injury to a human. The
Hummer is outfitted with several sensors to
determine how far away obstacles and walls are, a
Netbook and a microcontroller to communicate
with a remote user, and a webcam and microphone
to send video and audio back to the remote user .
How Does it Work?
Turn on
Power to
Client,
Server and
Hummer
Project Goals
Goals Delivered:
•Control over Wifi
•Sensors for Obstacle Detection
•Relative Motion
Relative Motion
•Video Transmission
Sensor
Additional Goals completed:
•Audio Streaming (Accomplished)
•Elevator Accessibility (Proof of Concept)
April 2011
September 2010
Client
Client sends
WSAD
commands to
Server
Client Views what
Hummer Sees
and hears
Wirelessly
Wirelessly
Make Ad-Hoc
Connection
Server Receives
commands sends
to Arduino
Server Receives
A/V sends to
Client
Elevator Accessibility
Server
USB
Arduino interprets
commands, sends
digital data to
H-Bridge
Hummer Moves
Accordingly,
Transmits A/V
USB
Figure 1: Movement Flowchart
Design
The Hummer is controlled using an Arduino Mega
attached to an Acer Netbook over USB. The
Netbook is then connected to another computer via
an ad-hoc network. A client-server application was
developed in order to send commands from the
remote user to the Arduino. The Arduino then
processes those commands and controls the
Hummer accordingly. Ultra-sonic pingers are used
for obstacle detecting and a USB webcam and
3.5mm microphone are used for the video and audio
components.
sensors used are LV-MaxSonar-EZO.
These sensors send out a ping and receive
it back as an analog voltage proportional
to the distance measured. Four of them
are mounted on the Hummer; one in the
front, one in the back, and one on each
side. The software has a
minimum distance set for
the front, back and sides.
If this value is returned
from any of the sensors, the Hummer will
come to a stop.
Steering and Wireless Control
The Hummer is controlled by an H-bridge and relay circuit
which controls two motors. The Arduino is interfaced to
this built-in H-Bridge and connected to the Netbook
(Server) over USB. The remote user needs to manually
connect the Server to the Client PC over a wireless
network. We used an ad-hoc connection because the
wireless Internet in Kingsbury is inconsistent. Commands
are sent wirelessly from the Client PC to the Server. The
Arduino interprets these commands and moves the
Hummer.
We thought it would be really intuitive and
resourceful if the Hummer was able to
access multiple floors. To accomplish this,
the Hummer sends an infrared signal when
in close proximity to the elevator. A circuit,
which we located near the elevator’s
buttons, was designed to detect the
Infrared signal and drive a solenoid to push
an elevator button.
Design Issues Encountered
•Limited to hardware of the Hummer
•Wireless Internet in Kingsbury
•Arduino “digital” signals are noisy
• Infrared transmission distance
Future Improvement Ideas
•Autonomous movement
• Easier user interface
• Control using devices other than a laptop
Apple iPad or other Tablet
Cell Phone
Special Thanks To:
&