1. iMap Sensors Christopher Baker Francesco Tamburrino Chin Ling Edward Latimer Joaquin Guiterrez Mobile Robot Design 14-Oct-2002

2. iMap Sensors Overview For now, focus on sensing the world. Primary Mapping Sensor  Laser  Structured Light (Light Striping)  Sonar Environmental Safety  Volatile gas sensors Tertiary navigation  Side-looking sonar Self-sensing to come later.

3. iMap Sensors Primary Mapping Laser AccuRange 4000 3.13” x 3.13” x 12.77” Total Weight: 3.5 lb. Power Consumption:  Laser: 5V @ 400mA (2W)  Sensor Heater (if too cold): 5V @ 4A (20W)  Line Scanner: 5-12V @ 45-110mA (0.23-1.32W), depending on desired scan speed.

4. iMap Sensors Primary Mapping Laser We could also make our own: Start with a laser rangefinder, or even a whole SICK scanner; take it apart Possibly rework optics and make rotating mirror from scratch Probably best rangefinder option, but harder to achieve – time factor not trivial.

5. iMap Sensors Primary Mapping Structured Light

6. Light Beam Rotating Mirror Lens (Panospheric) Camera

7. iMap Sensors Primary Mapping Sonar Nixen-3 Designed for locating, tracking & motion control of industrial equipment for mine operation No direct physical connection/wiring Weatherproof Max. Range ≥ 10m Power Supply 10-18VDC Sphere radius approx. 75mm  Range measurement between master station and slave units  Made in Australia

8. iMap Sensors Environmental Safety Gas Sensors Scott Instruments “Scout” Multi-gas, including: Oxygen Combustible (LEL) H2S Soakable (Submersible for short periods) Size (with batteries): 7” 1/2 x 2” 5/8 x 4” Weight (with alkaline batteries): 24 oz (.7 kg) Power: 50hrs with 3 C-cell batteries

9. iMap Sensors Tertiary Navigation Sonar Air / Underwater but not both 1.05" diameter x 1.60" -- 3/4" NPT or smaller Maximum voltage of 26V RMS or smaller Range from 0m to 50m transceiver to transceiver operation Echoes from 0.1m to 25m are achieved with low cost circuitry  Parameter values depend on which one we use  Made in Australia