- Team Recon

Project ProposalReconnaissance Robot

Ruben LalindeBen MajorBen MinerdAndrew 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 inchesMinimum 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: 12VStall Current: 21.3ATorque: 98 in-lbsWeight: 2.6lbs

Driver and Power Interface

Microprocessor

Motor Driver

Power Control MotorsActive AntennaData TransmittersCamera

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: $1,500oECE Department: $400

Description Proposed BudgetFramework/Support $137Body $65Tracks $343Arm $33Communication $300Motors $561Power $238Project Total $1677

Project Schedule

Questions?

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