Mating/Data Sharing Robots (Abbot and Costello) Chad Sylvester Space Automation and Manufacturing Mechanisms Department of Mechanical and Aerospace Engineering University of Florida

Presentation Outline Project Goals Purpose of the Project System Overview Hardware Special Sensor and testing Conclusion of the robots capabilities

Project Goals Development of Robots to find, dock, and gather/transmit data (tell jokes) Utilization of Vision and Networking Systems

Purpose of Project Reconnaissance System inventory and management Path Planning Problems Multi-Agent Problems

System Overview and Assumptions Two Robots are allowed to travel in a plane using Ackerman steering The position of both are tracked via independent camera system One robot docks and connects a hard-line with the other Data (communication) is transmitted

Hardware Atmel mega128 with LetATwork II Platform constructed of Aluminum and Lexan Steering hacked from die cast car Motors from Pololu HS-81MG Servos from Hitec

Special Sensor Demonstration Work Field – 5’ X 8’ Searching Robot (Abbott) Sought Robot (Costello) Camera Positioning System

First Test (Find Distances) Sensor Measured 206 210 478 480 772 770 1022 1020 Units in millimeters Measurement accuracy of 1 cm

Second Test (Set Quadrants)

Second Test Continued X = -350.5 Y = 280.3 X = 392.1 Y = 275.1 Units in millimeters

Third Test (Orientation) Angle = .52 Angle = -.43

Behaviors Menu Selection from PC Obstacle Avoidance Docking Wireless Communication from PC to Robot Hard-line Communication between Robots

Pictoral Demonstration

Videos (Dock from right)

Videos (Closeup of Docking)

Videos (Dock from left)

Videos (Dock from Middle)

Questions ?