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  1. Rescue Robot Summer 2005 Sharif University of Technology Bahador Khaleghi Amir Aminsabouri

  2. Outline • Introduction • Processor Specs • Sensors • Actuators • Communications • Computational power • Environment model • Behavioral analysis • Scan time • Memory allocation • Software architecture • Power consumption • Cost estimation

  3. Introduction • Purpose • Plan overview

  4. Processor Specs • Name PIC18F452 • Architecture RISC with C Compiler • Operating Frequency DC – 40 MHz • Program Memory (Bytes) 32K • Program Memory (Instructions) 16384 • Data Memory (Bytes) 1536 • Data EEPROM Memory (Bytes) 256 • Instruction Set 75 Instructions • Interrupt Sources • I/O Ports • Timers • Capture/Compare/PWM Module • Serial and Parallel Communication • 10-bit Analog-to-Digital Module

  5. Sensors • TPA-81 • IR Diffuse Sensor • Rotary Encoders • Gyroscope • Gas Sensor

  6. Actuators • DC Motors • Lamps and Buzzers • Servo Motor

  7. Communications • Serial RS-232 • Peer to Peer • XStream Modem • Data stream • Robot to Host • Host to Robot

  8. Environment model • Grid based model • Size of blocks • Robot movement • Goals • Victim • Fire flame 3 2 4 Robot 1 5

  9. Behavioral analysis (for every control cycle) • Gathering environmental data • Reading gas sensor • Scanning environment through TPA-81 • Processing & Actuation • Next way to take • Change direction • Object detection • Store & send the results • Gas condensation • Current block coordinates

  10. Scan time • Response time of components: • Gas Sensor : 2 sec • TPA-81 : 10 msec • IR Diffuse sensor : 3msec • Gyroscope : realtime • Servo Motor : 200 degree per second • Shaft Encoder : max frequency 180 KHz • Overall scan time : about 10 seconds

  11. Memory allocation • Program memory • 32KByte • Data memory (max 400 blocks) • 800 Byte: Path • 50 Byte: Gas Status • 750 Byte: Other data

  12. Power consumption • Processor : 250 mW • Max233 chip : 75 mW • L298 Chip : 500 mW • Lamps : 750 mW • Buzzer : 1.2 W • Radio modem : 600 mW • Gas sensor : 500 mW • TPA-81 sensor : 25 mW • Servo motor : 1 W • IR sensor : 520 mW • Shaft encoders : 2.16 W • Gyroscope : 50 mW • Motor interface : 500 mW • Voltage regulator 7805 : 120 mW

  13. Power consumption (cntd.) • Max current in 12 V : 400 mA • Max current in 5 V : 750 mA • Total current : 1150 mA • For operating 2 hours autonomously: 12V, 2.3Ah

  14. Cost estimation • Shaft encoders: 1,000,000 Rls • IR Diffuse sensor: 280,000 Rls • Battle Tank Toy: 380,000 Rls • TPA-81 sensor: 770,000 Rls • Servo motor: 140,000 Rls • Gyroscope: 550,000 Rls • CO gas sensor: 45,000 Rls • PIC18F452 microcontroller: 555,000 Rls • Canada government tax: 222,000 Rls • PCB manufacture cost: 1,000,000 Rls • Radio modem: available in dep. • Battery: available in dep. • Overall Estimated Cost : 3,550,000 Rls

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