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