1. USAR Design Specification
Robotopia
USAR Design Specification
Team:
Adam Beals
Matt Lindsay
Daniel Rodriguez
Bryan Wygal

2. Overall Search Strategy
Two Search Strategies:
Grid travel- moves square by square
Room Scanner- enters room and scans for victims
Second Robot:
Smaller and more powerful.
Sole purpose is to make it up the ramp.
Specialized Sensor:
Uses sensor to detect when robot enters a room.
Also uses this time to localize.

3. Mechanical Design Dual differential- Improves accuracy
Forward Motor
Turn Motor
Reduction of Gearing
R=9:1
R=27:1
Diameter of Tires and Width
D=1.69in
W=3/8in
Circumference of Tires
5.3in
Clicks/revolution of tire 18 54
Distance/ click
.294in/click
.098in/click
Click/unit distance
3.4click/in
10.2click/in
Distance between Wheels
5in
Difference in encoder for 90 turn ~
13.6 clicks
Max motor speed
.75 rev/sec
max forward speed
2.08 in/sec
mass
7 lbs
Dual differential- Improves accuracy
High torque to drive with back-up batteries.
Robust frame to carry extra weight (batteries).

4. Electrical Design Tone Circuit: Extra Power:
Handyboard battery only lasts min.
Added two extra battery packs
They each contain 8 AA batteries
This should triple our battery life

5. Software Design Uses same Trackred function to find victims.
Listensound function done with a series of if statements.
Checkroom function uses IRs to decide if room threshold is crossed.
Both approaches threaded.
First approach uses Scansquare to find obstacles and victims.
Second approach uses Scan and Search functions to find victims.
Uses X, Y and θ to calculate position.

6. Any Questions or Comments?