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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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Presentation on theme: "- Team Recon Project Proposal Reconnaissance Robot Ruben Lalinde Ben Major Ben Minerd Andrew Pavlik Advisor: Frank Hludik."— Presentation transcript:

1 - Team Recon Project Proposal Reconnaissance Robot Ruben Lalinde Ben Major Ben Minerd Andrew Pavlik Advisor: Frank Hludik

2 Project Goals Design and assemble a versatile, remote controlled surveillance robot Minimize fabrication expenses

3 Practical Uses Bomb Defusal Hostage Situation Hazardous Chemical Environments Battlefield Reconnaissance Proactive Surveillance

4 Honors Thesis Significance of Unpersoned Robots Background / History of Robotics Contribution Elaboration

5 Design Inspiration Sources Recon Scout XTiRobot 510 PackBot

6 Recon Scout XT Advantages  Small Weight  Quick Deployment  Night Vision Disadvantages  Limited Functionality  Limited Durability

7 iRobot 510 PackBot Advantages  Open Ended Functionality  Durability  Night Vision  More Informative Feedback Disadvantages  Longer Setup Time  Cumbersome

8 Stability Wide body provides stable base for arm

9 Stair Climbing Maximum Stair Rise: 8 ¼ inches Minimum Stair Run: 9 inches Short body creates low center of gravity

10 Camera Arm

11 Camera Arm Motion Dual axis pan-and-tilt camera mount Worm gear transmission for bottom of arm Custom mount for ‘elbow’ joint

12 Video Camera n 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

13 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

14 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

15 Video Camera Link  Point-to-point n WiFi connection between router and camera  Fast, tested, and reliable link with a large bandwidth  Data can be easily encrypted

16 Microcontroller  Handles control of all systems on the robot  Communication with GUI  Motor control  Interface to component systems  Power management

17 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

18 Drive Motors Voltage: 12V Stall Current: 21.3A Torque: 98 in-lbs Weight: 2.6lbs

19 Driver and Power Interface Microprocessor Motor Driver Power Control Motors Active Antenna Data Transmitters Camera Drive Motors Arm Motors GPS

20 PCB Fabrication Gerber Files BATCH PCB

21 Battery Considerations Peak Current Considerations Desired Run-time Estimated Drive Current Battery Options NiMH Batteries Lead Acid Batteries

22 Budget Total budget: $1,900 Sources: o L-3 Insight Technology: $1,500 o ECE Department: $400 DescriptionProposed Budget Framework/Support$137 Body$65 Tracks$343 Arm$33 Communication$300 Motors$561 Power$238 Project Total$1677

23 Project Schedule

24 Questions? ?


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