Test Slide

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Test Slide

• Text works.
• Graphics work.

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Self-MappingMobile Robot

• Senior Capstone Project
• Progress Report
• Department of Electrical and Computer Engineering
• Bradley University
• Advisor Dr. A.Malinowski
• Presented by Stephanie Luft
• 2 March 2006

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Presentation Outline

• Project Overview
• Progress to Date
• Future Work
• Revised Schedule
• Questions

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Presentation Outline

• Project Overview
• Progress to Date
• Future Work
• Revised Schedule
• Questions

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Project Overview

• Objective To develop a robot that will
• Map an area of its environment
• Locate itself within the map
• Orient itself within the environment

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System Block Diagram
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Presentation Outline

• Project Overview
• Progress to Date
• Future Work
• Revised Schedule
• Questions

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Progress to Date

• Distance Sensing
• Hardware Integration
• Mapping Software

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Progress to Date Distance Sensing

• Feasibility study of models available
• EE402 project
• Investigation of alternative method
• Image processing software
• Selection of MATLAB over C

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Image Processing

• Insert pictures here

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Progress to Date Hardware Integration

• Pan-Tilt Unit
• Robot Movement
• Robot as Power Source
• Laptop
• Distance Meter
• PTU

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Progress to DateMapping Software

• Language selection made
• Investigation of previous work at Dartmouth using
  MATLAB

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Presentation Outline

• Project Overview
• Progress to Date
• Future Work
• Revised Schedule
• Questions

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Future Work

• Distance Sensing
• Hardware Integration
• Mapping Software

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Future Work Distance Sensing

• Further Testing
• Distance calculation
• Calibration
• Image Capture PTU Integration

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Future Work Hardware Integration

• Pan-Tilt Unit
• Robot Movement
• Robot as Power Source
• Laptop
• Distance Meter
• PTU
• Software Control

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Progress to DateMapping Software

• Probabilities/Fuzzy Logic Method
• Image Processing for Map Recognition
• Stages to Be Completed
• Development
• Testing
• Debugging
• Integrating

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Presentation Outline

• Project Overview
• Progress to Date
• Future Work
• Revised Schedule
• Questions

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Revised Schedule
Week of 22 Jan. Research software methods and details of equipment functionality 1 week
29 Jan. 11 Feb. Connect hardware, develop functional understanding 2 weeks
12 Feb. 25 Feb. Software development 2 weeks
26 Feb. 11 Mar. Software simulation 2 weeks
March Software development Hardware Integration 4 weeks
1st week April Final Debug Total Integration 1 week
Remainder of Semester Prepare for Expo, Final Report, Presentation, Demo 4 weeks
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Self-MappingMobile Robot

• Senior Capstone Project
• Progress Report
• Department of Electrical and Computer Engineering
• Bradley University
• Advisor Dr. A.Malinowski
• Presented by Stephanie Luft
• 2 March 2006

Questions? sluft_at_bradley.edu
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Software Functionality

• Functional Modes
• Mapping
• Maneuvering
• Immediate Response
• C/MATLAB

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Software Mapping Mode

• Plot environment and locate robot
• Distance sensing
• Immediate response
• Data transmission
• Plotting obstacles and robot location
• Self-locating
• Previous map identification
• Navigation and maneuvering

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Software Maneuvering Mode

• Allow user to control robot
• User interface
• Data transmission
• Immediate response
• Navigation and maneuvering
• Distance sensing
• Self-locating
• Plotting robot location only

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Software Functionality Mapping and Maneuvering
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Software Functionality Immediate Response