Rescue Robot

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

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2
Robot
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1
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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

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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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