The CSUF Unmanned Utility Ground Robotic Vehicle Advisor: Dr. Jidong Huang

 Autonomous Robot for daily tasks  Precise, efficient, reliable, consistent  Apply our research on other robots

 Use of wooden platform  Use for testing, cheap, easy modifications  Chain Drive  Cheap, easy to switch ratios, robust  Two motors drive with casters  Sharper turns, better control

 Electric motors  Silent, no pollutions, precise control  Efficient and powerful using neodymium magnets  Torque: 1920 oz-in, 3HP; Light weight: 3.8 lbs.  Dual channels motor controller  Controls two motors simultaneously  Precision driving

 Easily disassembled  Transportation, storage, replacements  Wide range of utility modules  Blade, stretchers, brooms,… etc.

 Single Board Biscuit Computer  Receives signals from sensors  Sends control commands to the microcontroller  Micro Controller  Transform serial signals into PWM  Sends signals to motor controllers  Router for wireless control  Sensors  GPS  IMU  LMS

 Fast Heading response vs accuracy  Adjustable acceleration  Kalman filter  Allowing sensors to compensate each other

 Developed for applications that requires high precision obstacle detection and avoidance

No Obstacle Obstacle Detected

 Due to the power of this machine, safety is our first priority  Remote Laptop  Remote Radio Control  Emergency Stop Switch  Indication Light

 Apply tight integration using our IMU and GPS  Manufacture aluminum chassis and carbon fiber protection shell  Implementation of Microsoft Kinect

1. CSUF Intramural Funds 2. CSUF ASI IRA Funds 3. Team members: Yeh, Michael; Nguyen Bao;Wu Tuo; La Roque, Martin; Chen, Jared; El-Laithy, Riyad; Tran, Minh; Lin, XueJin; Woodland, John; Yu, Ivan; Liu, Siwei; Phung, Vy