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W-CRR Wireless Cylindrical Recon Robot

Purpose for Building the W-CRR. Application of software and hardware knowledgeGain experience working as a team to achieve a finished productControl software and hardware within a wireless network.Robotic applications. W-CRR Features:. Controlled through 802.11 wireless networkTwo-wheel stable mobilityAdaptation to environmental obstacles Contingency locator check /correctTracking grid display of robots location .

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W-CRR Wireless Cylindrical Recon Robot

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    1. W-CRR Wireless Cylindrical Recon Robot Engineer Design Team #10 Rory McCrave Steve Cass George Cermak Rich Taylor Date (07-24-2002)

    2. Purpose for Building the W-CRR Application of software and hardware knowledge Gain experience working as a team to achieve a finished product Control software and hardware within a wireless network. Robotic applications

    3. W-CRR Features: Controlled through 802.11 wireless network Two-wheel stable mobility Adaptation to environmental obstacles Contingency locator check /correct Tracking grid display of robots location

    4. Size and Specifications: Shape: Cylindrical Length: 24 inches Diameter: 10 inches Max Speed: 0.5 mph Weight: 35 lbs Chassis Composition: Galvanized Steel, Aluminum, and Plexi-glass

    5. Work Assignments

    7. Physical Connection Block Diagram

    8. Wireless Interface

    9. Types of Control

    10. 802.11 Interface Growing Technology Long Range Supports TCP/IP Cost effective Size Versatility

    11. Hardware Interface

    12. Software Interface

    14. Ad-Hoc Mode Running a Program

    15. Video Will be handled by X10 Web Camera Allow visual of location in manual mode Visual Conformation of Obstructions

    16. POWER CPU 12v Camera 12v Motors 24v M-Controller 9v Others 5v

    17. POWER DISTRIBUTION

    18. Motor Control and Environmental Sensing

    19. Motor Control Two independent 24 volt DC gear-head motors Differential steering will give it control to spin. Transistors and Relays will pick up the micro-controller signals to run the motors

    20. Relays and Transistors Midtex 496 11E 3000 Needs 5volt and 40mA, will run 28 volts and 10 Amps 8099 transistors will pick up 0.6mA to 60mA

    25. Tracking Sensors Sensors will log each revolution of it’s wheels Each revolution will send a 5 volt pulse to the micro-controller Micro-controller will keep track of direction Programming will be used to keep a log of its path for replay

    27. Environment Sensors IR Proximity sensors will pick up on unexpected obstructions in it’s path. Micro-controller will receive a 5 volt pulse each time a object is in front of the robots inferred sensors. Course corrections will be made by a time delay and path change Sensors at center of robot

    28. Local Positioning System FUKAWE Locator

    33. 1525 Analog Compass Sensor Specs: Ratio metric 2 channel output with swing from 2.9V-2.1V Input: 5 volts @ 19mA Output DC Offset: 2.5 volts Weight: 2.25 grams Dimensions: 12.7mm diameter, 16mm height Operation Temp: –20 to +85 degrees C

    35. Compass Designation (1° Accuracy)

    37. Fukawe System Requirement IR Sensor Range: 100ft Voltage: 5Volts Compatibility with 38KHz Carrier 1/F = 26.3x10^-6 sec

    38. Fukawe System Requirement Rotating Sensor Assembly Top of Robot Motor Driven (Inside Chassis) Full Rotation 360° in 21 sec Gear Driven (rotation slow speed control) Recessed IR Sensor Carrier (Present = 0 or Not = 1) Level compass mount

    46. W-CRR Onboard Software Micro-Controller and PC Software

    47. CRR Onboard Software Decodes Input Serial Data Controls Drive Motors Based on Data Reads and Manipulates Environmental Data Controls Local Positioning Hardware Encodes and Send Collected Data Serially

    48. Micro-Controller Method Summary

    49. PC Mapping and Control Software Includes the W-CRR a User Interface Calculates Path Based on User Specified Coordinates Formats and Sends Path and Control Data Serially Disassembles Received Environmental Data Updates Position Coordinates based on received data

    50. Use Case Diagram of Mapping Software

    51. Class Diagram of Mapping Software

    52. Mapping Software Sequence Diagram

    54. W-CRR Positioning Calculations

    55. W-CRR Positioning Calculations

    56. Administrative Content Budget Percentage of Completion Milestone Chart

    57. Budget and Financing

    58. Percentage of Completion

    59. Dates for Design and Completion

    60. THANK YOU

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