Tracking Rover Team Rubber Ducky Joshua Rubin Alexander Starick Ryan Ramos Alexander Chi.
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Transcript of Tracking Rover Team Rubber Ducky Joshua Rubin Alexander Starick Ryan Ramos Alexander Chi.
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Tracking Rover
Team Rubber Ducky Joshua Rubin
Alexander StarickRyan RamosAlexander Chi
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Main Goal
Design a robot to locate and retrieve objects placed in random locations
Useful in disaster situations to find objects in places where people can not go
The ability to add many new sensors, both analog and digital, allows this robot to be used in many situations
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Primary planning stagesRobotic control system
- Motor Direction Control
- Motor Speed Control
- Separate Control for Each Motor
IR Radar
- Constant Velocity Motor
- Rotary Encoder
Power distribution to different components
- Mobile power source
- Highly regulated for SBC and other sensitive electronics
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Secondary planning stages
Object avoidance using ultrasonic ranging sensorsItem RetrievalRemote control of robot (manual override)Item identificationUser interface with alphanumeric LCD and 4x4 key pad to allow item selection
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General block diagram
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Single Board Computer
133Mhz AMD Elan 520 (586) Processor
Compact flash booting
On board A/D, D/A and DIO converters
2 serial ports
WiFi communication via pcmcia card
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Advantages of an SBC
High level programming
Extremely fast
Advanced O/S
Embedded system
Simple design
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Infrared Radar
360º horizontal scanning
Fast, accurate rotational period
Rotary encoder to indicate sensor angle
Puck will emit 360º horizontally
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Battery
Supplies +12.8V when 100% charged
Advantages of the ODYSSEY PC310
- Powerful- Long run time- Light (5.9 lb)- Small dimensions- Fast to charge
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Power Supply
Receive power directly from batterySupply power to SBC, Motors and sensors as neededVoltage needs to be highly regulatedAccount for voltage changes due to battery discharge
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Robotic Control
Two motors, two wheels and uncontrolled swivel wheel
IR sensor will operate by uncontrolled rotary motor
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Cost Break downSBC - $320Power supply (batt. included) and charger - $230IR sensor - $30Ultrasonic Ranger - $30Robotic parts
- Chassis - $170
- Motor drivers - $100
- Rotary motor and driver - $100
Total cost = $980
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Gantt Chart
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Division of Labor
Software - Joshua, Alex C.Power - Alex S, JoshuaInstruments - Ryan, Alex SPropulsion - Ryan, Alex CAssembly - Ryan, Alex C
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Possible difficulties
Line of sight issues with IR
Object avoidance algorithm
Radar accuracy
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Contingency plan
Remove object avoidance H/W and S/W
Remove object capture ability
Solid mount multiple IR sensors instead of radar
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Questions?