- team recon project proposal reconnaissance robot ruben lalinde ben major ben minerd andrew pavlik...
TRANSCRIPT
- Team Recon
Project ProposalReconnaissance Robot
Ruben LalindeBen MajorBen MinerdAndrew 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
Maximum Stair Rise: 8 ¼ inches
Minimum Stair Run: 9 inches
Short body creates low center of gravity
Camera Arm
Camera Arm Motion
Dual axis pan-and-tilt camera mount
Worm gear transmission for bottom of arm
Custom mount for ‘elbow’ joint
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 with GUI Motor 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: 12VStall Current: 21.3ATorque: 98 in-lbsWeight: 2.6lbs
Driver and Power Interface
Microprocessor
Motor Driver
Power Control MotorsActive AntennaData Transmitters
Camera
Drive Motors
Arm Motors
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: $1,500oECE Department: $400
Description Proposed BudgetFramework/Support $137Body $65Tracks $343Arm $33Communication $300Motors $561Power $238Project Total $1677
Project Schedule
Questions?
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