sdp 2009 team siqueira rohan balakrishnan (cse) conan jen (ee) andrew lok (ee) jonathan tang (ee)...

SDP 2009 Team Siqueira

Rohan Balakrishnan (CSE) Conan Jen  (EE)Andrew Lok (EE)

Jonathan Tang (EE)

MAPPER: A Perfectly Portable Exploration Robot

SDP 2009 Team Siqueira

Overview of Presentation• Brief overview of our project. • The problem that we are addressing.• Our implementation of the solution.• Cost break-down• What we plan for demo day. • Demonstration

SDP 2009 Team Siqueira

The Problem• Reconnaissance is always important for the military and

search and rescue teams.• With importance of human lives, robots are a perfect

replacement.• Solution would be something small, and expendable.  

SDP 2009 Team Siqueira

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

SDP 2009 Team Siqueira

• Specs met are in boldo Scan scope: 20'x20' indoor roomo Method: Ultrasonic sensor mounted on stepper motor for

360 degree rotationo Scan time: 5-15 mins (to complete 20'x20' room)o Minimum detectable obstruction size: 1'x1'o Wireless communications: 100+ fto Weight: 1-2lbso Expected Battery Life: 10 rooms per charge

CDR Specifications

SDP 2009 Team Siqueira

Flow chart of system

SDP 2009 Team Siqueira

SDP 2009 Team Siqueira

SDP 2009 Team Siqueira

SDP 2009 Team Siqueira

PCB Layout

SDP 2009 Team Siqueira

PCB Schematic

SDP 2009 Team Siqueira

• Disassembled Arduinos down to ATMega168• Integrated both the movement control Arduino and

Ultrasound / Stepper motor Arduino onto single board• Headers made to plug into master control Arduino• Compass also plugs in header wise

Eagle Design

SDP 2009 Team Siqueira

Picture of robot3.7'' diameterMin Operating Voltage: 3VMax Operating Voltage: 7VPowered by: AAA batteries (x4)

SDP 2009 Team Siqueira

- Bluetooth Arduino board.- Serves as master controller- Interfaces with slaves over I2C bus and with computer over Bluetooth. - Serial bluetooth connection.

Wireless

SDP 2009 Team Siqueira

• Initial concerns were going straight• Had issues with both DC motors outputting the same• Found that motor 1 has problems with speeds from 0-

30• Added a digital compass to our system • Found method of calibrating and correcting heading

Movement

SDP 2009 Team Siqueira

Movement Error

SDP 2009 Team Siqueira

Movement Error

SDP 2009 Team Siqueira

Movement Error

SDP 2009 Team Siqueira

• The Java GUI program we developed takes 100 equally spaced measurements from a text file.

• These distances correspond to a polar graph of the closest observations.

• Polar data is converted to cartesian co-ordinates and then over-layed with previous plots to "triangulate" location of free-space and obstructions. 

• The more result measurements result in a more accurate final plot being produced.

Java Software Algorithm

20SDP 2009 Team Siqueira

21SDP 2009 Team Siqueira

SDP 2009 Team Siqueira

Picture of M5 study room

SDP 2009 Team Siqueira

Picture of M5 study room

SDP 2009 Team Siqueira

Picture of M5 study room

SDP 2009 Team Siqueira

Pictures of GUI output

SDP 2009 Team Siqueira

• 3pi Robot uses 4 AAA Batteries

o 4x AAA Batteries will yield 3.5-5.5V

o Want a stable 5V Vcc source

o 3pi robot has a built-in voltage regulator

Power

SDP 2009 Team Siqueira

• 3pi Battery Testingo Ran tests with stepper motor, arduinos, and ultrasound

sensors connected Stepper motor + arduino ~500mW Power of entire system ~ 1W 

o Battery monitoring built into the 3pio Expected Battery lifetime ~50 min

Power

SDP 2009 Team Siqueira

Power (graph scale needs to be changed)

SDP 2009 Team Siqueira

- Ultrasound sensor  $28- Pololu 3pi Robot $119 - Bluetooth Arduino $150- Stepper motor $17 - Arduino Development board (no cost)- Digital Compass (no cost) - PCB $33Total Cost: $347

Costs of Project

SDP 2009 Team Siqueira

1 Per 1000 - Ultrasound sensor  $22.36- Pololu 3pi Robot $119 - Bluetooth Arduino $119.96- Stepper motor $11- ATMega 168 (x4) $8.56- Digital Compass $42.36- PCB $15Total Cost: $338

The Final Product Cost for 1- Ultrasound sensor  $28- Pololu 3pi Robot $119 - Bluetooth Arduino $150- Stepper motor $17 - ATMega 168 (x4) $15.16- Digital Compass $60- PCB $33Total Cost: $422

SDP 2009 Team Siqueira

Demo Day• How do we expect to demo?

o Small model room with a few objects in ito A laptop set up for the GUI

SDP 2009 Team Siqueira

Questions and Comments