Test Slide

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Test Slide

• Text works.
• Graphics work.

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Self-MappingMobile Robot

• Senior Capstone Project Proposal
• Department of Electrical and Computer Engineering
• Bradley University
• Advisor Dr. A.Malinowski
• Presented by Stephanie Luft
• 06 December 2005

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Presentation Outline

• Project Overview
• Review of Previous Work
• System Block Diagram
• Software Functionality
• Equipment
• Schedule
• Questions

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Presentation Outline

• Project Overview
• Review of Previous Work
• System Block Diagram
• Software Functionality
• Equipment
• 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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Presentation Outline

• Project Overview
• Review of Previous Work
• System Block Diagram
• Software Functionality
• Equipment
• Schedule
• Questions

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Review of Previous Work

• GuideBot Capstone Project 2005
• John Hathway and Daniel Leach
• Thesis Concurrent Map Building and
  Self-Localization for Mobile Robot Navigation
• Thomas Duckett, Manchester, United Kingdom
• University of Illinois Mechatronics Lab Projects
• http//coecsl.ece.uiuc.edu/ge423/spring04/group7/g
  roup7.html
• http//coecsl.ece.uiuc.edu/ge423/spring03/Group7/i
  ndex.html_Toc40283479

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Presentation Outline

• Project Overview
• Review of Previous Work
• System Block Diagram
• Software Functionality
• Equipment
• Schedule
• Questions

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System Block Diagram
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System Block Diagram
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System Block Diagram
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System Block Diagram
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Presentation Outline

• Project Overview
• Review of Previous Work
• System Block Diagram
• Software Functionality
• Equipment
• Schedule
• Questions

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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
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Presentation Outline

• Project Overview
• Review of Previous Work
• System Block Diagram
• Software Functionality
• Equipment
• Schedule
• Questions

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Equipment

• ActiveMedia Pioneer 2 mobile robotic platform
• Laptop computer with wireless connection
• Digital compass
• Remote PC with network connection
• Laser distance meter
• Pan-tilt unit
• Appropriate connectors for all equipment
• MATLAB, Visual Studio, and/or another type of
  software development system.

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Equipment Distance Meter Selection

• Considerations
• Cost
• Accuracy
• Measurable distance a 0.2 to 10 meter range
• Safety
• Weight
• Computer interface
• Availability
• TLM 100 feasibility investigation

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Presentation Outline

• Project Overview
• Review of Previous Work
• System Block Diagram
• Software Functionality
• Equipment
• Schedule
• Questions

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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 1 week
12 Mar. 15 Apr. Software debug and test 5 weeks
16 Apr. end of semester Prepare for final report, presentation, and expo 1-2 weeks
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Self-Mapping Mobile Robot

• Senior Capstone Project Proposal
• Department of Electrical and Computer Engineering
• Bradley University
• Advisor Dr. A.Malinowski
• Presented by Stephanie Luft
• 06 December 2005

Questions? sluft_at_bradley.edu