1. 1 Test Slide Text works. Text works. Graphics work. Graphics work.

2. Self-Mapping Mobile Robot Senior Capstone Project Progress Report Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 2 March 2006

3. Presentation Outline Project Overview Project Overview Progress to Date Progress to Date Future Work Future Work Revised Schedule Revised Schedule Questions Questions

4. Presentation Outline Project Overview Project Overview Progress to Date Progress to Date Future Work Future Work Revised Schedule Revised Schedule Questions Questions

5. Project Overview Objective: To develop a robot that will Objective: To develop a robot that will Map an area of its environment Map an area of its environment Locate itself within the map Locate itself within the map Orient itself within the environment Orient itself within the environment

6. System Block Diagram

7. Presentation Outline Project Overview Project Overview Progress to Date Progress to Date Future Work Future Work Revised Schedule Revised Schedule Questions Questions

8. Progress to Date Distance Sensing Distance Sensing Hardware Integration Hardware Integration Mapping Software Mapping Software

9. Progress to Date: Distance Sensing Feasibility study of models available Feasibility study of models available EE402 project EE402 project Investigation of alternative method Investigation of alternative method Image processing software Image processing software Selection of MATLAB over C++ Selection of MATLAB over C++

10. Image Processing Insert pictures here Insert pictures here

11. Progress to Date: Hardware Integration Pan-Tilt Unit Pan-Tilt Unit Robot Movement Robot Movement Robot as Power Source Robot as Power Source Laptop Laptop Distance Meter Distance Meter PTU PTU

12. Progress to Date: Mapping Software Language selection made Language selection made Investigation of previous work at Dartmouth using MATLAB Investigation of previous work at Dartmouth using MATLAB

13. Presentation Outline Project Overview Project Overview Progress to Date Progress to Date Future Work Future Work Revised Schedule Revised Schedule Questions Questions

14. Future Work Distance Sensing Distance Sensing Hardware Integration Hardware Integration Mapping Software Mapping Software

15. Future Work: Distance Sensing Further Testing Further Testing Distance calculation Distance calculation Calibration Calibration Image Capture & PTU Integration Image Capture & PTU Integration

16. Future Work: Hardware Integration Pan-Tilt Unit Pan-Tilt Unit Robot Movement Robot Movement Robot as Power Source Robot as Power Source Laptop Laptop Distance Meter Distance Meter PTU PTU Software Control Software Control

17. Progress to Date: Mapping Software Probabilities/Fuzzy Logic Method Probabilities/Fuzzy Logic Method Image Processing for Map Recognition Image Processing for Map Recognition Stages to Be Completed Stages to Be Completed Development Development Testing Testing Debugging Debugging Integrating Integrating

18. Presentation Outline Project Overview Project Overview Progress to Date Progress to Date Future Work Future Work Revised Schedule Revised Schedule Questions Questions

19. Revised Schedule Week of 22 Jan.Research software methods and details of equipment functionality 1 week 29 Jan. – 11 Feb.Connect hardware, develop functional understanding 2 weeks 12 Feb. – 25 Feb.Software development2 weeks 26 Feb. – 11 Mar.Software simulation2 weeks MarchSoftware development Hardware Integration 4 weeks 1 st week AprilFinal Debug Total Integration 1 week Remainder of Semester Prepare for Expo, Final Report, Presentation, Demo 4 weeks

20. Self-Mapping Mobile Robot Senior Capstone Project Progress Report Department of Electrical and Computer Engineering Bradley University Advisor: Dr. A.Malinowski Presented by Stephanie Luft 2 March 2006 Questions? sluft@bradley.edu

21. Software Functionality Functional Modes: Functional Modes: Mapping Mapping Maneuvering Maneuvering Immediate Response Immediate Response C++/MATLAB C++/MATLAB

22. Software: Mapping Mode Plot environment and locate robot Plot environment and locate robot Distance sensing Distance sensing Immediate response Immediate response Data transmission Data transmission Plotting – obstacles and robot location Plotting – obstacles and robot location Self-locating Self-locating Previous map identification Previous map identification Navigation and maneuvering Navigation and maneuvering

23. Software: Maneuvering Mode Allow user to control robot Allow user to control robot User interface User interface Data transmission Data transmission Immediate response Immediate response Navigation and maneuvering Navigation and maneuvering Distance sensing Distance sensing Self-locating Self-locating Plotting – robot location only Plotting – robot location only

24. Software Functionality: Mapping and Maneuvering

25. Software Functionality: Immediate Response