SECON Team AIEEE SoutheastCon Hardware Competition 2011

The A-TeamJohn DeBerry

EE Major

Chris Howell

James Key

Tim JonesEE Major

CPE Major

CPE Major

Chassis Construction

Course Construction

Battery Selection

Navigation Design

Navigation Design

Control Systems

Control Systems

Dr. JonesFaculty AdvisorLocomotion

Outline• Introduction• Problem Specification• Course Description• Victim Description• Constraints• Technical• Practical

• Trade-offs• System Overview• Progress• Timeline• Questions

Problem Specification

Description:• A minimally invasive

reconnaissance robot that will be able to autonomously navigate and search a course for victims.

Features:• EMF detection and IR sensors to

locate victims and a hazard• LCD screen and speaker to notify

user of victim locations and conditions

Course Description

Specifications:• 2.4 m x 2.4 m floorplan• Four 1 m2 rooms

Obstacles:• Two Variations

4 cm x 9cm

2 cm x 2 cm

Victims and the Hazard

Victim Specifications:• 8.9 cm diameter, 4.1 cm high• Emits a 33-kHz sinusoidal wave signal• Uses an LED to differentiate between: Dead, Alive,

or Unconscious• Up to three victims per room

Hazard Specifications:• 40 cm x 40 cm core• Emits a 44-kHz sinusoidal wave signal• Mounted underneath the floor of the course in

one of the four rooms

Technical Constraints

Name Description

SizeThe robot must not be larger than 20 cm x 20 cm x 20 cm

SensingThe robot must detect electromagnetic fields at 33kHz and 44kHz resonant frequencies. The robot must also detect a green LED.

ManeuverabilityThe robot must be able to maneuver over or around objects.

SpeedThe robot must be able to reach a speed of at least 20 cm/s

MappingThe robot must be able to map objects within the course.

Practical Constraints

Type Name Description

Sustainability Dependability The robot must require minimum maintenance

Manufacturability ModularizationSubsystems must be able to be detached and tested separately

System Overview

Control PIC

Audio/Visual

SLAMIR Sensor

DC Motors

Victim DetectionEMFLED

Battery

Trade-offsWall Following Vs. Line Following

Trade-offs

Emitter Receiver

IR SensorsVS

Ultrasound Sensors

Trade-offs

SLAM Vs. No Mapping and Localization

Progress

TimelineMay June July August September October November December

Team Development

Course Construction

Chassis Construction

Parts Research

Parts Ordering

Code Research

Code Implementation

Robot Testing

Robot Optimization

References[1] Robotics Research Group. (2010, Aug. 30). “Learn More History.” [Online]. Available: http://www.robotics.utexas.edu/rrg/learn_more/history/ [2] Institute for Electrical and Electronics Engineers. (2010, Aug. 30). “IEEE SoutheastCon 2010,” SoutheastCon Main Website. [Online]. Available: http://www.southeastcon.org/2010 [3] Whyte, H. D., and Bailey, T., “Simultaneous Localization and Mapping: Part I.” IEEE Robotics & Automation Magazine, vol. 13, no. 2 (2006): 99-108. http://www.doc.ic.ac.uk/~ajd/Robotics/RoboticsResources/SLAMTutorial1.pdf

Questions