1. Lemming -Bot Electrical Engineering Masters Student July 5, 2007 By Jason Morejon

2. Summary of Talk Sensors used in robot Sensor Communication Software method of use for sensors Sensor Test Results

3. Sensors Used Photo diodes  Sight nearby objects or black and white transitions Peak effectiveness at 20-30mils Wheel Encoders  Read wheel rotations to determine travel distance  100 counts per turn, 2 channels

4. Sensors Used 3-axis Accelerometer  Measures acceleration in three dimensions  Configurable sensitivity Will read from +/-1.5g and ~600mV/g Sonar  Detects from 6in to 254in (6.45 meters)‏  1in Resolution, 10mV/in Compass  0.5deg Resolution, 2.5deg Accuracy  Can be used in strong magnetic field environments

5. Sensor Communication Analog  Accelerometers (x3)‏  Sonar (x4)‏ Optional use of Pulse Width or Serial  Both operate in 0 – 3V Range I2C  Compass Module 100kbps, 8bit address, data, and stop bit On demand, pre-averaged data

6. Sensor Communication Pulse  Motor Encoders to estimate speed  Available sonar alternative to analog

7. Method of Use Accelerometers provide incline data for map Directional data provided by compass  Errors checked by Z-axis accelerometer Distance determined by motor encoders and checked by sonar  Verifiable with accelerometer

8. Sensor Test Results Sonar effective as low as 1 foot and as far as the ceiling  Inconsistent if too close to surface (ex. ground)‏

9. Accelerometer Tilt Readings