IEEE SoutheastCon Hardware Competition 2011

John DeBerry EE Major Chris Howell James Key Tim Jones EE Major CPE Major Chassis Construction Course Construction Battery Selection Navigation Design Control Systems Dr. Jones Faculty Advisor Locomotion

Introduction Problem Specification Course Description Victim Description Constraints Technical Practical Trade-offs System Overview Progress Timeline Questions

Problem Specification Description: A minimally invasive reconnaissance robot that will be able to autonomously navigate and search a course for victims. Features: EMF detection and IR sensors to locate victims and a hazard LCD screen and speaker to notify user of victim locations and conditions

Course Description Specifications: 2.4 m x 2.4 m floorplan Four 1 m 2 rooms Obstacles: Two Variations  4 cm x 9cm  2 cm x 2 cm

Victim Specifications: 8.9 cm diameter, 4.1 cm high Emits a 33-kHz sinusoidal wave signal Uses an LED to differentiate between: Dead, Alive, or Unconscious Up to three victims per room Hazard Specifications: 40 cm x 40 cm core Emits a 44-kHz sinusoidal wave signal Mounted underneath the floor of the course in one of the four rooms

Technical Constraints NameDescription Size The robot must not be larger than 20 cm x 20 cm x 20 cm Sensing The robot must detect electromagnetic fields at 33kHz and 44kHz resonant frequencies. The robot must also detect a green LED. Maneuverability The robot must be able to maneuver over or around objects. Speed The robot must be able to reach a speed of at least 20 cm/s Mapping The robot must be able to map objects within the course.

Practical Constraints TypeNameDescription SustainabilityDependability The robot must require minimum maintenance ManufacturabilityModularization Subsystems must be able to be detached and tested separately

System Overview Control PIC Audio/Visual SLAM IR Sensor DC Motors Victim Detection EMF LED Battery

Trade-offs Wall Following Vs. Line Following

Trade-offs EmitterReceiver IR Sensors VS Ultrasound Sensors

Trade-offs SLAM Vs. No Mapping and Localization

MayJuneJulyAugustSeptemberOctoberNovemberDecember Team Development Course Construction Chassis Construction Parts Research Parts Ordering Code Research Code Implementation Robot Testing Robot Optimization

References [1]Robotics Research Group. (2010, Aug. 30). “Learn More History.” [Online]. Available: [2]Institute for Electrical and Electronics Engineers. (2010, Aug. 30). “IEEE SoutheastCon 2010,” SoutheastCon Main Website. [Online]. Available: [3]Whyte, H. D., and Bailey, T., “Simultaneous Localization and Mapping: Part I.” IEEE Robotics & Automation Magazine, vol. 13, no. 2 (2006):

Questions