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Tracking Rover

Team Rubber Ducky Joshua Rubin Alexander Starick Ryan Ramos Alexander Chi. Tracking Rover. Main Goal. Design a robot to locate and retrieve objects placed in random locations Useful in disaster situations to find objects in places where people can not go

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Tracking Rover

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  1. Team Rubber Ducky Joshua Rubin Alexander Starick Ryan Ramos Alexander Chi Tracking Rover

  2. Main Goal Design a robot to locate and retrieve objects placed in random locations Useful in disaster situations to find objects in places where people can not go The ability to add many new sensors, both analog and digital, allows this robot to be used in many situations

  3. Primary planning stages Robotic control system - Motor Direction Control - Motor Speed Control - Separate Control for Each Motor IR Radar - Constant Velocity Motor - Rotary Encoder Power distribution to different components - Mobile power source - Highly regulated for SBC and other sensitive electronics

  4. Secondary planning stages Object avoidance using ultrasonic ranging sensors Item Retrieval Remote control of robot (manual override) Item identification User interface with alphanumeric LCD and 4x4 key pad to allow item selection

  5. General block diagram

  6. Single Board Computer • 133Mhz AMD Elan 520 (586) Processor • Compact flash booting • On board A/D, D/A and DIO converters • 2 serial ports • WiFi communication via pcmcia card

  7. Advantages of an SBC High level programming Extremely fast Advanced O/S Embedded system Simple design

  8. Infrared Radar • 360º horizontal scanning • Fast, accurate rotational period • Rotary encoder to indicate sensor angle • Puck will emit 360º horizontally

  9. Battery • Supplies +12.8V when 100% charged • Advantages of the ODYSSEY PC310 - Powerful - Long run time - Light (5.9 lb) - Small dimensions - Fast to charge

  10. Power Supply Receive power directly from battery Supply power to SBC, Motors and sensors as needed Voltage needs to be highly regulated Account for voltage changes due to battery discharge

  11. Robotic Control • Two motors, two wheels and uncontrolled swivel wheel • IR sensor will operate by uncontrolled rotary motor

  12. Cost Break down SBC - $320 Power supply (batt. included) and charger - $230 IR sensor - $30 Ultrasonic Ranger - $30 Robotic parts - Chassis - $170 - Motor drivers - $100 - Rotary motor and driver - $100 Total cost = $980

  13. Gantt Chart

  14. Division of Labor Software - Joshua, Alex C. Power - Alex S, Joshua Instruments - Ryan, Alex S Propulsion - Ryan, Alex C Assembly - Ryan, Alex C

  15. Possible difficulties Line of sight issues with IR Object avoidance algorithm Radar accuracy

  16. Contingency plan Remove object avoidance H/W and S/W Remove object capture ability Solid mount multiple IR sensors instead of radar

  17. Questions?

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