1. Advisor: Frank Hludik

2. Project Goals
Design and assemble a versatile, remote controlled surveillance robot
Minimize fabrication expenses

3. Practical Uses Bomb Defusal Hostage Situation
Hazardous Chemical Environments
Battlefield Reconnaissance
Proactive Surveillance

4. Honors Thesis Significance of Unpersoned Robots
Background / History of Robotics
Contribution Elaboration

5. Design Inspiration Sources
Recon Scout XT
iRobot 510 PackBot

6. Recon Scout XT Advantages Disadvantages Small Weight Quick Deployment
Night Vision
Disadvantages
Limited Functionality
Limited Durability

7. iRobot 510 PackBot Advantages Disadvantages Open Ended Functionality
Durability
Night Vision
More Informative Feedback
Disadvantages
Longer Setup Time
Cumbersome

8. Stability
Wide body provides stable base for arm

9. Stair Climbing Short body creates low center of gravity
Maximum Stair Rise: 8 ¼ inches
Minimum Stair Run: 9 inches

10. Camera Arm

11. Camera Arm Motion Worm gear transmission for bottom of arm
Custom mount for ‘elbow’ joint
Dual axis pan-and-tilt camera mount

12. Video Camera 802.11n v2.0 Compliant WiFi 640x480 pixel resolution
44 degree viewing angle
In/Out ports to network alarm systems
Omnidirecional Mic and Speaker
Record video feed to disk

13. Wireless Data Transmission
Two wireless channels to simplify design and maximize available bandwidth
Control link
Video Camera Link
Include provisions for loss of data/signal
Antennas will be an important design choice

14. Control Link Long range XBee 900MHz RF transceivers
Data transmission at 9600bits/s
Rated up to 1200ft indoors
GUI will send control data to Robot; Robot will send sensory data to GUI
Data will be transmitted between GUI and robot as string “packets”
Ex. “>L=128,R=255<“
GUI will transmit packets at specified intervals so that robot can easily identify when link has been lost

15. Video Camera Link
Point-to-point n WiFi connection between router and camera
Fast, tested, and reliable link with a large bandwidth
Data can be easily encrypted

16. Microcontroller Handles control of all systems on the robot
Communication with GUI
Motor control
Interface to component systems
Power management

17. Arduino Arduino Mega with Atmel ATmega1280 microcontroller
Open-source design with various code libraries to simplify implementation
Programming can be done in Arduino IDE or in Eclipse (with WinAVR plug-in)
Plenty of online support
Various component “shields” developed for Arduino microcontroller line

18. Drive Motors Voltage: 12V Stall Current: 21.3A Torque: 98 in-lbs
Weight: 2.6lbs

19. Driver and Power Interface
Microprocessor
Drive Motors
Arm Motors
Motor Driver
Power Control
Motors
Active Antenna
Data Transmitters
Camera
GPS

20. PCB Fabrication
Gerber Files
BATCH PCB

21. Battery Considerations
Peak Current Considerations
Desired Run-time
Estimated Drive Current
Battery Options
NiMH Batteries
Lead Acid Batteries

22. Budget Total budget: $1,900 Sources: L-3 Insight Technology: $1,500
ECE Department: $400
Description
Proposed Budget
Framework/Support
$137
Body
$65
Tracks
$343
Arm
$33
Communication
$300
Motors
$561
Power
$238
Project Total
$1677

23. Project Schedule

24. Questions? ?