1 SDP09 Team Siqueira Rohan Balakrishnan (CSE) Conan Jen (EE) Andrew Lok (EE) Jonathan Tang (EE) MAPPER: A Perfectly Portable Exploration Robot

2 SDP09 Team Siqueira The Problem  Reconnaissance is always important for the military  With importance of human lives, robots are a perfect replacement.

3 SDP09 Team Siqueira A Scenario

4 SDP09 Team Siqueira Our Solution  Robotic platform capturing information about its surroundings  Wireless communication link will transfer data back to PDA or laptop  Transferred data is then used to construct a 2-D bird's eye view of the environment

5 SDP09 Team Siqueira Block Diagram

6 SDP09 Team Siqueira Flow Chart

7 SDP09 Team Siqueira PDR Retorts  Potential market (the military, search and rescue teams) Low Power Low Cost (estimated final device cost $300) Portable Expendable  Software algorithm Is not computationally intensive Simple trigonometry Overlaying points eliminates blind spots

8 SDP09 Team Siqueira MDR Specifications (Goal)  Working sensor array on non-moving reference(have multiple different reference points and combine it into a map)  Working software which will take distance measurements and display them on Java GUI.  No wireless for now

9 SDP09 Team Siqueira MDR Specifications  Specs met are in bold  Scan scope: 20'x20' indoor room  Method: Ultrasonic sensor mounted on stepper motor for 360 degree rotation  Scan time: 5-15 mins (to complete 20'x20' room)  Minimum detectable obstruction size: 1'x1'  Semi Autonomous movement  Wireless communications: 100+ ft  Weight: 1-2lbs  Expected Battery Life: 10 rooms per charge

10 SDP09 Team Siqueira Ultrasound Sensor  Controlled directly from the Arduino  Returns 4 ASCII characters (First character 'R' followed by distance)  Output is inverted  Range is 255 inches

11 SDP09 Team Siqueira Stepper Motor  Motor is connected to 4 pins leading out from the Arduino development board.  Draws on 5V power supply from Arduino.  Performs full 360 degree sweep and reset back to starting position in less than 10 seconds.

12 SDP09 Team Siqueira Arduino  We decided to use a standard Arduino development board with the Atmega 168 microcontroller.  Data received from ultrasound via Serial is captured using a Java program.

13 SDP09 Team Siqueira Software (Algorithm)  Java GUI takes input from text file (distances)  Distances recorded = polar graph of closest objects  Polar data converted to Cartesian  Data from multiple ranging points combined  Plots overlaid to triangulate on obstructions  More result measurements = more accurate plot  Simulated room before starting with real data

14 SDP09 Team Siqueira Software GUI (simulated)

15 SDP09 Team Siqueira Software GUI (simulated)

16 SDP09 Team Siqueira Software GUI (simulated)

17 SDP09 Team Siqueira Figure: 3-D model of M-5 study room. Room Scenario

18 SDP09 Team Siqueira Room Scenario (actual)

19 SDP09 Team Siqueira Resulting GUI (actual)

20 SDP09 Team Siqueira Current Cost Breakdown  PARTS / BUDGET Ultrasound Sensor $28 Stepper Motor $15 Arduino Clone (ATmega168) Free (M5)  Total $43

21 SDP09 Team Siqueira Gantt Chart

22 SDP09 Team Siqueira Next steps  Complete system integration  Robot base/Movement

23 SDP09 Team Siqueira Questions?  Questions? Comments?