1. Autonomous System For 3D Layout Recording

2. Macedonian Team : Zarko Kostadinovski Stefan Janev Igor Simevski Lazo Dimitrievski Team Leader : Branislav Gerazov

4. Autonomous System Parts: 1.ASURO Robot Kid 2.EasyBT – Bluetooth Module 3.Three-Axis Accelerometer Board

5. 1.ASURO Robot Kit The robot is controlled by ATmega8l microcontroller which runs DC motors according to the information provided by the sensors 2.EasyBT – Bluetooth Module - enables wireless communication 3.Three-Axis Accelerometer Board - gives positioning in 3D space

6. ASURO Code - The code was written from scratch - IAR Embedded Workbench was used - Developed using ATmega8L datasheet and user manuals

7. PC side PC side Linux implementation Linux implementation OpenGL graphics library OpenGL graphics library BSD sockets for Bluetooth communication BSD sockets for Bluetooth communication

8. Final Product Autonomous System For 3D Layout Recording The system provides path mapping The system provides path mapping the path is marked and mapped in 3D space the path is marked and mapped in 3D space Robot recorded data is sent via bluetooth connection to the PC Robot recorded data is sent via bluetooth connection to the PC Real-time 3D path is drawn by PC Real-time 3D path is drawn by PC

9. Final Product Autonomous System For 3D Layout Recording Cheap electronic parts are used, which provide useful tool for: accurate length measuring accurate length measuring maximum height reached maximum height reached accurate 3D mapping of the path accurate 3D mapping of the path

10. Final Product Autonomous System For 3D Layout Recording Advantages: Independence Independence battery power supply battery power supply wireless communication with other systems (especially PC) wireless communication with other systems (especially PC)

11. Problems met - UART initialization (solved) - AD convertor initialization (solved) - Bluetooth initialization (solved) - Burned transistors in H-Bridge drivers on motors (solved) - Different phototransistor focus length (solved)

12. Problems met - Flash programming of ASURO (solved) - C Libraries (solved) - Tire slipping (solved) - AD pin external multiplexing (solved) - External light source (solved) - Path tracking (solved)

13. Problems met - Trigonometry of 3D space (solved) - 3D path rendering (solved) - OpenGL scaling (solved) - Accelerometer readings went haywire (not solved) - RFCOMM communication problem (not solved)

14. Problems met - DC motor power loss (not solved) - Not working at the end (not solved)

15. Photos

24. Video