1. Mating/Data Sharing Robots (Abbot and Costello)
Chad Sylvester
Space Automation and Manufacturing Mechanisms
Department of Mechanical and Aerospace Engineering
University of Florida

2. Presentation Outline Project Goals Purpose of the Project
System Overview
Hardware
Special Sensor and testing
Conclusion of the robots capabilities

3. Project Goals
Development of Robots to find, dock, and gather/transmit data (tell jokes)
Utilization of Vision and Networking Systems

4. Purpose of Project Reconnaissance System inventory and management
Path Planning Problems
Multi-Agent Problems

5. System Overview and Assumptions
Two Robots are allowed to travel in a plane using Ackerman steering
The position of both are tracked via independent camera system
One robot docks and connects a hard-line with the other
Data (communication) is transmitted

6. Hardware Atmel mega128 with LetATwork II
Platform constructed of Aluminum and Lexan
Steering hacked from die cast car
Motors from Pololu
HS-81MG Servos from Hitec

7. Special Sensor Demonstration
Work Field – 5’ X 8’
Searching Robot (Abbott)
Sought Robot (Costello)
Camera Positioning System

8. First Test (Find Distances)
Sensor Measured
Units in millimeters Measurement accuracy of 1 cm

9. Second Test (Set Quadrants)

10. Second Test Continued X = -350.5 Y = 280.3 X = 392.1 Y = 275.1
Units in millimeters

11. Third Test (Orientation)
Angle = .52
Angle = -.43

12. Behaviors Menu Selection from PC Obstacle Avoidance Docking
Wireless Communication from PC to Robot
Hard-line Communication between Robots

13. Pictoral Demonstration

14. Videos (Dock from right)

15. Videos (Closeup of Docking)

16. Videos (Dock from left)

17. Videos (Dock from Middle)

18. Questions ?