1. Objectives The objective of this design process was to create a small, autonomous robot capable of completing a set of predefined objectives within an arena provided by Stevens Institute of Technology. The objectives are: To extinguish enemy target lights in under three (3) minutes. To create a robot which can navigate through a course with obstacles. To guide the robot to target lights through photosensitive resistors (light sensors). To eliminate the target lights autonomously before the opposing robot. To create software capable of efficient interaction with hardware on the robot to ensure the robot completes its objectives as quickly as possible. The Arena Specifications: 4’x8’ arena Divided into white and black territory Obstacles consist of 3’’ tall walls and blockages 4 target lights (2 per territory) 1 beacon light located 36’’ above center of arena Autonomous Robotic Design With Software Applications Towards Conceptual Avionics Abstract Autonomous robotic design is the process of creating a robot which can complete a predefined task without human intervention. The robot accomplishes this feat with technology that can analyze its surroundings and provide data to a preprogrammed software routine. This system allows the robot to operate on its own within a variable environment without any human interface. The benefits of an autonomous system include the ability to operate in hostile environments without the need for a human controller. These systems, however, require an understanding of the possible environment the robot may encounter and available sensory technologies which are integrated into the software code, the brain of the robot. This project is based on the creation of a small autonomous robot capable of detecting and extinguishing target lights while avoiding obstacles which obstruct direct paths of motion. Therefore, a system of light sensors and bumpers are required to accomplish this task. With the concept of autonomous systems, unmanned aerial system avionics function as a more advanced version of the small autonomous robot. The improvement of UAV avionics integration is the next step toward the safe integration of UAV systems into commercial airspace. Autonomous robotics have a variety of applications from sensory robots to UAV avionics. Sponsors: National Aeronautics and Space Administration (NASA) NASA Goddard Space Flight Center (GSFC) NASA Goddard Institute for Space Studies (GISS) NASA New York City Research Initiative (NYCRI) Stevens Institute of Technology (SIT) Contributors: Dr. Siva Thangam, PI Prof. Joseph Miles, PI Christopher Kennedy, HSS Mehrdad Hooshmand, Ugrad Mechanical Design The process of mechanical design for the robot involved: The optimization of light sensor quantity and placement on the robot. The optimal positioning and height of the beacon light sensor. The placement of the Floor Sensor Module The shape and size of the light shields. The quantity and placement of bumper switches. The size and shape of the bumpers. The decisions made on these design parameters are depicted through the alternative design matrix, which is representation of the top four (4) contending designs chosen from a larger field of conceptual designs. (see below). Electrical Engineering The electrical engineering of this robot required two components to be built for functional hardware integration. These elements included the Bumper Interrupt Support Board and the Floor Sensor Module. Bumper Interrupt Support Board Connects bumpers and microcontroller to form a hardware interrupt in the event of a bumper hit. This enables the robot to interrupt the main code and perform a special operation in the event of a detected hit. Floor Sensor Module This system turns on a high current LED light while a light sensor on the same board collects reflection data from the floor to determine floor color. Software Engineering The software for the autonomous programming is a C++ language built and compiled in the MP LAB X IDE environment. These programs use “while” and “if” statements to gather data from the light sensors and use that data to determine its next maneuver. Conceptual Avionics Integration Avionic technology is the integrated computer system involved in the flight controls, navigation, and weather avoidance capabilities of aircraft. Although these advanced systems currently can detect altitude, pitch, and speed, they cannot change orientation in the event an object is detected by radar. If a new program could be integrated into avionics systems that would detect possible collisions and avoid them through a hazard identification system, the safety factors of aviation would skyrocket, providing a safer sky to the millions who rely on air transportation every day. Avionics development consists of three components: Integration Redundancy Speed of computation These concepts were examined in the creation of the small autonomous robot and can be applied to future research in avionics development and UAV integration into civilian airspace. Conceptual UAV Alternative Design Matrix Robot Arena Robot: Rear View BIS Wiring Diagram PIC Micro Controller FSM Wiring Diagram Main Loop Flowchart Bumper Interrupt Flowchart Left: Robot Front View Right: Robot Upper Right Side