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Critical Design Review

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7 inches in diameter. Two heavy-duty 2 1/2' diameter rubber-treaded wheels. Constructed of rigid expanded PVC (strong but very light), precision cut double-decker base ... – PowerPoint PPT presentation

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Title: Critical Design Review


1
Autonomous Robotics
Theseus Project
Critical Design Review
A Mobile Robotics Test Bed for Surveillance and
Reconnaissance
Presented by Jennifer Dam Kristine Deleon Daniel
Gelyana Hien Lau Kevin Priest
October 24, 2005
2
Overview
  • Design Overview
  • Platform
  • Actuators
  • Servo Motors
  • Wheel Encoders
  • Sensors
  • Power Structure
  • Controller
  • Acomplishments
  • Schedule
  • Budget

3
Design - Overview
  • The autonomous ground based robot (here on know
    as Theseus) will consist of
  • Platform (Chassis)
  • Actuators wheels, wheels encoders, servo motors,
  • Power Structure
  • Sensors
  • Robot Controller

Front
Back
4
Design - Platform
  • 7 inches in diameter
  • Two heavy-duty 2 1/2" diameter rubber-treaded
    wheels
  • Constructed of rigid expanded PVC (strong but
    very light), precision cut double-decker base
  • Aluminum 2 1/2" risers, with lightweight nylon
    screws
  • Adjustable-height metal balancing skids

5
Design - Actuators
  • RC servo motor
  • Controlled via Pulse Width Modulation (PWM)
  • Weight 1.48oz.
  • 4.8-6v Speed 0.23-.18 sec/60
  • 4.8-6v Torque 47-56 oz-in.
  • Speed and direction controlled via Xilinx board

6
Design - Actuators
  • RC servo motor
  • Uses 50-60 Hz pulses
  • Pulse duration between 1 2ms
  • Servo motor stops at 1.5ms pulse width
  • 2 main speeds
  • On
  • Off

7
Design - Actuators
  • Wheel Encoders

8
Design - Sensors
  • Digital Infra-Red
  • Sharp GP2D02 IR Ranger
  • Range 10 - 80cm (3.93 - 31.4in)
  • Output is an 8-bit binary number representing the
    distance, read serially
  • One on each side of the robot

9
Design - Sensors
  • Digital Infra-Red
  • Sharp GP2D05 IR Sensor
  • 1-bit digital output that indicates the presence
    or absence of an object within a fixed range
  • Range 10 - 80cm (3.93 - 31.4in), range can be
    set via variable resistor
  • Placed in front of robot

10
Design - Power Structure
  • ?????

11
Design - Controller
  • Main System Control
  • Sensors IO
  • Motor IO
  • Speed
  • Direction
  • Maze Solving Algorithm

12
Design - Controller
  • Algorithm of Controller
  • State 0
  • Forward Motion (PWM)
  • Check Front Sensor (Left and Right Sensor off)
  • Check for goal IR pattern
  • State 1
  • Stop forward motion
  • Check both side sensors
  • Make distance comparison
  • Make decision via distance (decide upon furthest
    distance)
  • Turn off side sensors

13
Design - Controller
  • State 2
  • Right wall, turn left
  • State 3
  • Left wall, turn right

14
Design - Controller
  • State 4
  • Default left turn
  • State 5
  • Turn 180 degrees
  • Turn on side sensors

15
Accomplishments
  • Hardware
  • IR Sensors Tested, Ordered
  • Servo Motors Tested
  • Strategy
  • Created state diagram to navigate through maze /
    find IR pattern

16
Schedule
Hardware, Motor Control- Kevin Priest Hardware,
Power Supply- Hien Lau Hardware, Sensor Control-
Jennifer Dam Programmer, Main System Control-
Daniel Gelyana Programmer, Sensors Control-
Kristine Deleon
17
Budget
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