- Team Recon

Project Proposal

Reconnaissance Robot

Ruben Lalinde

Ben Major

Ben Minerd

Andrew Pavlik

Advisor: Frank Hludik

Project Goals

Design and assemble a versatile, remote

controlled surveillance robot

Minimize fabrication expenses

Practical Uses

Bomb Defusal

Hostage Situation

Hazardous Chemical Environments

Battlefield Reconnaissance

Proactive Surveillance

Honors Thesis

Significance of Unpersoned Robots

Background / History of Robotics

Contribution Elaboration

Design Inspiration Sources

Recon Scout XT

iRobot 510 PackBot

Recon Scout XT

Advantages

Small Weight

Quick Deployment

Night Vision

Disadvantages

Limited Functionality

Limited Durability

iRobot 510 PackBot

Advantages

Open Ended Functionality

Durability

Night Vision

More Informative Feedback

Disadvantages

Longer Setup Time

Cumbersome

Stability

Wide body provides stable base for arm

Stair Climbing

Maximum Stair Rise: 8 ¼ inches

Minimum Stair Run: 9 inches

Short body creates low center of gravity

Camera Arm

Camera Arm Motion

Dual axis pan-and-tilt camera mount

Worm gear transmission for

bottom of arm

Custom mount for „elbow‟ joint

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

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

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

Video Camera Link

Point-to-point 802.11n WiFi connection between

router and camera

Fast, tested, and reliable link with a large bandwidth

Data can be easily encrypted

Microcontroller

Handles control of all systems on the robot

Communication with GUI

Motor control

Interface to component systems

Power management

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

Drive Motors

Voltage: 12V

Stall Current: 21.3A

Torque: 98 in-lbs

Weight: 2.6lbs

Driver and Power Interface

Microprocessor

Motor Driver

Power Control Motors

Active Antenna

Data Transmitters

Camera

Drive Motors

Arm Motors

GPS

PCB Fabrication

•Gerber Files

•BATCH PCB

Battery Considerations

•Peak Current Considerations

•Desired Run-time

•Estimated Drive Current

•Battery Options

•NiMH Batteries

•Lead Acid Batteries

Budget

•Total budget: $1,900

•Sources:

oL-3 Insight Technology: $1,500

oECE Department: $400

Description Proposed Budget

Framework/Support $137

Body $65

Tracks $343

Arm $33

Communication $300

Motors $561

Power $238

Project Total $1677

Project Schedule

Questions?