USAR Design Specification Robotopia USAR Design Specification Team: Adam Beals Matt Lindsay Daniel Rodriguez Bryan Wygal

Overall Search Strategy Two Search Strategies: Grid travel- moves square by square Room Scanner- enters room and scans for victims Second Robot: Smaller and more powerful. Sole purpose is to make it up the ramp. Specialized Sensor: Uses sensor to detect when robot enters a room. Also uses this time to localize.

Mechanical Design Dual differential- Improves accuracy Forward Motor Turn Motor Reduction of Gearing R=9:1 R=27:1 Diameter of Tires and Width D=1.69in W=3/8in Circumference of Tires 5.3in Clicks/revolution of tire 18 54 Distance/ click .294in/click .098in/click Click/unit distance 3.4click/in 10.2click/in Distance between Wheels 5in Difference in encoder for 90 turn ~ 13.6 clicks Max motor speed .75 rev/sec max forward speed 2.08 in/sec mass 7 lbs Dual differential- Improves accuracy High torque to drive with back-up batteries. Robust frame to carry extra weight (batteries).

Electrical Design Tone Circuit: Extra Power: Handyboard battery only lasts 12-15 min. Added two extra battery packs They each contain 8 AA batteries This should triple our battery life

Software Design Uses same Trackred function to find victims. Listensound function done with a series of if statements. Checkroom function uses IRs to decide if room threshold is crossed. Both approaches threaded. First approach uses Scansquare to find obstacles and victims. Second approach uses Scan and Search functions to find victims. Uses X, Y and θ to calculate position.

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