1. (Mobile Office Delivery System)
MODS
(Mobile Office Delivery System)
As of 6DEC2011
Kevin Hoffman
IMDL

2. Problem:
Sometimes things (i.e. products, documents, gifts, etc) need to be delivered at a moments notice and the preferred method of delivery is unavailable or closed for business
First part of a two part system capable of moving products around an office building with sufficient obstacle avoidance and secure storage and delivery.

3. Theoretical Purpose: -To develop an autonomous system capable of navigating a building room to room regardless of obstacles. -To retrieve and distribute goods regardless of weight and orientation Demonstrative Purpose: -To develop and autonomous system capable of navigating between two to three rooms with limited obstacle avoidance. - To retrieve and distribute a single item limited to confine of space and simple shape orientation

4. Design: Inspiration from MSE-6 Droid from Star Wars franchise.
Controlled via Epiphany DIY board
developed by Tim Martin

5. What she really looks like

6. Collision Avoidance Sensors
Use of 4 Maxbotix EZ0 Wide band sonar ranging devices
Chained 360 degree coverage
3ft to 20ft range
3ft zone to begin avoidance maneuver
Simple bump switch on the rear of the robot
Forward movement upon bump

7. Force pad sensor – Never Integrated
Object in bay sensed by resistive force pad
1.5 square inch area of effect

8. Line Sensing – Replaced by Camera
Reflectance Sensor Array
Digital Output
3mm optimal sensing distance
Used to detect black line and no line

9. SPECIAL SENSOR – SURVEYOR SRV-1 REST IN PEACE

10. Course Starts at the base and proceeds to second red
Turns to Purple which is point of pickup
Turns to Red and continues on it’s course
Goes to last red for delivery
Returns to base to finish it’s course
Very modular course can be altered and expanded
to go anywhere
Colors sizes are constantly being altered to “work”

11. Surveyor SRV-1 Uses Blackfin Analog Devices technology
Internal Processor and memory
UART connection
160x128 pixel resolution to direct onboard 32MB SDRAM
Built-in C interpreter for scripting and autonomous operation
Use of Axon Blackfin AVR libraries
Lots of resources and decent hobbyist community
NOT EASY TO USE

12. Questions?