1. ECE415 SDP Design MAPPER: A Perfectly Portable Exploration Robot Rohan Balakrishnan (CSE) Conan Jen (EE) Andrew Lok (EE) Jonathan Tang (EE)

2. ECE415 SDP Design Project Inspiration 2

3. ECE415 SDP Design Project Vision Reconnaissance is always important for the military Desired solution is autonomous, small and cheap implementation With importance of human lives, robots are perfect replacement 3

4. ECE415 SDP Design Decided Implementation Autonomous robotic platform capturing information about its surroundings Wireless communication link will transfer data back to PDA or Laptop Transferred data used to construct a 2-D bird's eye view of the environment 4

5. ECE415 SDP Design Project Considerations Multiple platform considerations – Non-mobile Leaves very little time for scanning Must be impact hardened Scan rotation depends entirely on trajectory of throw Multiple sensor considerations – Laser Expensive, loses accuracy at range, bulky – Radar Power hungry, large, expensive, complicated – Optical Needs large bandwidth on wireless link, software based distancing detection – Ultrasound Inexpensive, accuracy issues 5

6. ECE415 SDP Design Project Specs / Scenario Initial Phase – Room Limitations: 20'x20‘, flat floor – Method: rotating ultrasonic sensors – Scan time: 5-15 mins – Stationary walls and large objects (minimum 1'x1') only – No manual intervention, straight movement into room – Wireless communications: 100+ ft 6

7. ECE415 SDP Design Room Scenario 7

8. ECE415 SDP Design GUI Mockup 8

9. ECE415 SDP Design Budget PARTS / BUDGET: Ultrasound Sensor$28 Roomba Create$130 Roomba Standard Rechargable Battery$50 PCB$150 Wireless communication device$27-60 Arduino Clone (ATmega168)Free (M5) Total $385-418 9

10. ECE415 SDP Design Block Diagram 10

11. ECE415 SDP Design Roomba Create Robotics platform from iRobot Provides serial input to the base Has a multitude of sensors built in Allows for addition of parts through expansion port 11

12. ECE415 SDP Design Standard Roomba Create 12

13. ECE415 SDP Design Wireless Link Considerations: Bluetooth, RF, WLan Security: Important because of military applications Do not want enemy knowing what you know Do not want false data injection Range: Need to be able to go through objects Link must be robust, cannot fail easily Must be able to deal with interference Jamming / interference is an issue, especially with military applications 13

14. ECE415 SDP Design Stepper Motor LA23GCK-213 Stepper Motor Provides basic platform for sensor to turn and sweep Used to mount the ultrasound sensor onto 1.8° per step Ultrasound sensor beam width @ 20 ft. ≈ 6° Oversampling max room by a factor of 3 14

15. ECE415 SDP Design Microcontroller Arduino clone - ATmega168 Based on the larger Wiring development board Rapid development with Processing. Flexibility of AVR C on ATmega 15

16. ECE415 SDP Design Ultrasound Sensor 16 Sensitivity to Ambient Conditions: Average room temperature changes will cause sensor to report readings of accuracy ± 5%

17. ECE415 SDP Design Power Sources The Roomba has its own internal battery – 12 AA alkalines or rechargeable equivalent – Expected battery life (1.5 hrs) 5V supply from Roomba, 16V supply from Roomba battery – Pin 8 (5V regulated) – Pin 9 (Battery power unregulated) Power for all our components can be drawn from Roomba 17

18. ECE415 SDP Design Project Responsibilities Rohan: Map application on computer/Arduino interfacing Conan: Wireless/Ultrasound Andrew: ATMega168/Arduino interfacing Jon: Stepper Motor + Wireless 18

19. ECE415 SDP Design Rough Timeline 19

20. ECE415 SDP Design Challenges Ultrasonic sensor may have accuracy issues Roomba movement integration 20

21. ECE415 SDP Design Questions? Questions? Comments? 21