1. External Home Control with Remote-Access Self-Routing Robot Neil Gabriel Josh Ostrander

2. Project Objectives Provide undisturbed movement between rooms of a simulated floor plan Provide undisturbed movement between rooms of a simulated floor plan Accurate representation of position on client software Accurate representation of position on client software

3. Specifications Navigation through the 6’ x 8’ floor plan Navigation through the 6’ x 8’ floor plan Ability to navigate to each room Ability to navigate to each room Movement restricted to specified “arcs” with an accuracy of + 3 inches Movement restricted to specified “arcs” with an accuracy of + 3 inches Additional accuracy possible in “Triangulation Regions” Additional accuracy possible in “Triangulation Regions” Up to + 1 inch Up to + 1 inch

4. Division of Responsibilities Neil Neil Smart Panel Smart Panel Client UI Client UI IR System IR System X10 X10 Joshua Joshua Motor Control Motor Control Sonar Sonar HC12 Code HC12 Code Both Both System Integration System Integration

5. Block Diagram

6. High-level Software Design User-Interface Responsibilities: User-Interface Responsibilities: Displaying all home data Displaying all home data device status device status robot position robot position Relaying user-commands to Smart Panel Relaying user-commands to Smart Panel Smart Panel Responsibilities: Smart Panel Responsibilities: Maintaining home persistency data Maintaining home persistency data Robot Navigation Robot Navigation Issuing X10 commands Issuing X10 commands Client User Interface Smart Panel (Home Server)

7. User-Interface

8. User-Interface Cont …

9. IR System Ir Emitters Ir Emitters 940 nm wavelength 940 nm wavelength 180° viewing area 180° viewing area Ir Detection Modules Ir Detection Modules 940 nm wavelength 940 nm wavelength 100° detection area 100° detection area Double Modulated IR Double Modulated IR 38 kHz carrier frequency 38 kHz carrier frequency 300 Hz signal frequency 300 Hz signal frequency

10. IR Modulation Circuit

11. Motor Control

12. Power Consumption Two separate power sources Two separate power sources 2400 mAh RC battery pack 2400 mAh RC battery pack Stepper motor power supply uses 6 VDC Stepper motor power supply uses 6 VDC Draws 2A max (2.2A x 6V = 13.2W) Draws 2A max (2.2A x 6V = 13.2W) 13.2 Watt Power Consumption 13.2 Watt Power Consumption 9 VDC 9 VDC HC12, RF module, IR detectors, sonar module HC12, RF module, IR detectors, sonar module Draws 180mA (180mA x 5V = 0.9W) Draws 180mA (180mA x 5V = 0.9W) 0.9 Watt Power Consumption 0.9 Watt Power Consumption

13. Current Progress Server “Smart Panel” – 90% Server “Smart Panel” – 90% Client Software Program – 90% Client Software Program – 90% RF Communication – 90% RF Communication – 90% Motor Control – 75% Motor Control – 75% Sonar System – 75% Sonar System – 75% IR System – 75% IR System – 75% System Integration – 25 % System Integration – 25 % Test/Debugging – 25% Test/Debugging – 25%

14. Basic Test Plan 1) Place PRA device in start position of Room A 2) Select Room C as the destination using the client application 3) Start movement of PRA by clicking “GO” on client application 1) PRA moves from start to A2 2) A2 to B1 3) B1 to B2 4) B2 to C1

15. Basic Test Plan Cont… 4) Measure location of PRA and compare with client application (+ 3 inches) 5) Select triangulation region in Room B as destination 6) Start movement of PRA by clicking “GO” on client application 1) PRA moves from C1 to B2, stopping in triangulation region 2) PRA triangulates its position using beacons C1, B2, and A2 7) Measure location of PRA and compare with client application (+ 1 inch)

16. Test Plan Layout

17. System Cost 2 – RF Transceivers (2 x $100) = $200 2 – RF Transceivers (2 x $100) = $200 5 – X10 wall devices (5 x $15) = $75 5 – X10 wall devices (5 x $15) = $75 2 – 2400mAh Batteries (2 x $25) = $50 2 – 2400mAh Batteries (2 x $25) = $50 1 – Fast Charger = $50 1 – Fast Charger = $50 1 – SRF04 Sonar Module = $40 1 – SRF04 Sonar Module = $40 Misc. Electrical Components = $100 Misc. Electrical Components = $100 Misc. Parts for PRA Chasse = $30 Misc. Parts for PRA Chasse = $30 Total $545 Total $545

18. Potential Problems Stepper Motor Torque Stepper Motor Torque Still may not be reliable enough Still may not be reliable enough Change Castor wheel Change Castor wheel Switch to standard DC motors Switch to standard DC motors IR Accuracy IR Accuracy Need to minimize “detection cones” Need to minimize “detection cones” RF Communication RF Communication Interference detected in the lab Interference detected in the lab Code Space on HC12 Code Space on HC12 Only 20% left Only 20% left

19. Questions? Questions? Comments? Comments?