1. SDP 2009 Team Siqueira Rohan Balakrishnan (CSE) Conan Jen (EE) Andrew Lok (EE) Jonathan Tang (EE) MAPPER: A Perfectly Portable Exploration Robot

2. SDP 2009 Team Siqueira Overview of Presentation Brief overview of our project. The problem that we are addressing. Our implementation of the solution. Cost break-down What we plan for demo day. Demonstration

3. SDP 2009 Team Siqueira The Problem Reconnaissance is always important for the military and search and rescue teams. With importance of human lives, robots are a perfect replacement. Solution would be something small, and expendable.

4. SDP 2009 Team Siqueira Our Solution Robotic platform capturing information about its surroundings Wireless communication link will transfer data back to PDA or laptop Transferred data is then used to construct a 2-D bird's eye view of the environment

5. SDP 2009 Team Siqueira Specs met are in bold o Scan scope: 20'x20' indoor room o Method: Ultrasonic sensor mounted on stepper motor for 360 degree rotation o Scan time: 5-15 mins (to complete 20'x20' room) o Minimum detectable obstruction size: 1'x1' o Wireless communications: 100+ ft o Weight: 1-2lbs o Expected Battery Life: 10 rooms per charge CDR Specifications

6. SDP 2009 Team Siqueira Flow chart of system

7. SDP 2009 Team Siqueira

10. PCB Layout

11. SDP 2009 Team Siqueira PCB Schematic

12. SDP 2009 Team Siqueira Disassembled Arduinos down to ATMega168 Integrated both the movement control Arduino and Ultrasound / Stepper motor Arduino onto single board Headers made to plug into master control Arduino Compass also plugs in header wise Eagle Design

13. SDP 2009 Team Siqueira Picture of robot 3.7'' diameter Min Operating Voltage: 3V Max Operating Voltage: 7V Powered by: AAA batteries (x4)

14. SDP 2009 Team Siqueira - Bluetooth Arduino board. - Serves as master controller - Interfaces with slaves over I2C bus and with computer over Bluetooth. - Serial bluetooth connection. Wireless

15. SDP 2009 Team Siqueira Initial concerns were going straight Had issues with both DC motors outputting the same Found that motor 1 has problems with speeds from 0- 30 Added a digital compass to our system Found method of calibrating and correcting heading Movement

16. SDP 2009 Team Siqueira Movement Error

17. SDP 2009 Team Siqueira Movement Error

18. SDP 2009 Team Siqueira Movement Error

19. SDP 2009 Team Siqueira The Java GUI program we developed takes 100 equally spaced measurements from a text file. These distances correspond to a polar graph of the closest observations. Polar data is converted to cartesian co-ordinates and then over-layed with previous plots to "triangulate" location of free-space and obstructions. The more result measurements result in a more accurate final plot being produced. Java Software Algorithm

20. 20 SDP 2009 Team Siqueira

21. 21 SDP 2009 Team Siqueira

22. Picture of M5 study room

23. SDP 2009 Team Siqueira Picture of M5 study room

24. SDP 2009 Team Siqueira Picture of M5 study room

25. SDP 2009 Team Siqueira Pictures of GUI output

26. SDP 2009 Team Siqueira 3pi Robot uses 4 AAA Batteries o 4x AAA Batteries will yield 3.5-5.5V o Want a stable 5V Vcc source o 3pi robot has a built-in voltage regulator Power

27. SDP 2009 Team Siqueira 3pi Battery Testing o Ran tests with stepper motor, arduinos, and ultrasound sensors connected  Stepper motor + arduino ~500mW  Power of entire system ~ 1W o Battery monitoring built into the 3pi o Expected Battery lifetime ~50 min Power

28. SDP 2009 Team Siqueira Power (graph scale needs to be changed)

29. SDP 2009 Team Siqueira - Ultrasound sensor $28 - Pololu 3pi Robot $119 - Bluetooth Arduino $150 - Stepper motor $17 - Arduino Development board (no cost) - Digital Compass (no cost) - PCB $33 Total Cost: $347 Costs of Project

30. SDP 2009 Team Siqueira 1 Per 1000 - Ultrasound sensor $22.36 - Pololu 3pi Robot $119 - Bluetooth Arduino $119.96 - Stepper motor $11 - ATMega 168 (x4) $8.56 - Digital Compass $42.36 - PCB $15 Total Cost: $338 The Final Product Cost for 1 - Ultrasound sensor $28 - Pololu 3pi Robot $119 - Bluetooth Arduino $150 - Stepper motor $17 - ATMega 168 (x4) $15.16 - Digital Compass $60 - PCB $33 Total Cost: $422

31. SDP 2009 Team Siqueira Demo Day How do we expect to demo? o Small model room with a few objects in it o A laptop set up for the GUI

32. SDP 2009 Team Siqueira Questions and Comments