MAPPER: A Perfectly

Portable Exploration
Robot
Rohan Balakrishnan (CSE)
Conan Jen (EE)
Andrew Lok (EE)
Jonathan Tang (EE)

SDP 2009 Team Siqueira

Overview of Presentation

Brief overview of our project.

The problem that we are addressing.
Our implementation of the solution.
Cost break-down
What we plan for demo day.
Demonstration

SDP 2009 Team Siqueira

The Problem
Reconnaissance is always important for the military and
search and rescue teams.
With importance of human lives, robots are a perfect
replacement.
Solution would be something small, and expendable.

SDP 2009 Team Siqueira

Our Solution
Robotic platform capturing information about its
surroundings
Wireless communication link will transfer data back to
PDA or laptop
Transferred data is then used to construct a 2-D bird's
eye view of the environment

SDP 2009 Team Siqueira

CDR Specifications
Specs met are in bold
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Scan scope: 20'x20' indoor room

Method: Ultrasonic sensor mounted on stepper motor for
360 degree rotation
Scan time: 5-15 mins (to complete 20'x20' room)
Minimum detectable obstruction size: 1'x1'
Wireless communications: 100+ ft
Weight: 1-2lbs
Expected Battery Life: 10 rooms per charge

SDP 2009 Team Siqueira

Flow chart of system

SDP 2009 Team Siqueira

SDP 2009 Team Siqueira

SDP 2009 Team Siqueira

SDP 2009 Team Siqueira

PCB Layout

SDP 2009 Team Siqueira

PCB Schematic

SDP 2009 Team Siqueira

Eagle Design
Disassembled Arduinos down to ATMega168
Integrated both the movement control Arduino and
Ultrasound / Stepper motor Arduino onto single board
Headers made to plug into master control Arduino
Compass also plugs in header wise

SDP 2009 Team Siqueira

Picture of robot
3.7'' diameter
Min Operating Voltage: 3V
Max Operating Voltage: 7V
Powered by: AAA batteries
(x4)

SDP 2009 Team Siqueira

Wireless
- Bluetooth Arduino board.
- Serves as master controller
- Interfaces with slaves over I2C bus and with computer
over Bluetooth.
- Serial bluetooth connection.

SDP 2009 Team Siqueira

Movement
Initial concerns were going straight
Had issues with both DC motors outputting the same
Found that motor 1 has problems with speeds from 030
Added a digital compass to our system
Found method of calibrating and correcting heading

SDP 2009 Team Siqueira

Movement Error

SDP 2009 Team Siqueira

Movement Error

SDP 2009 Team Siqueira

Movement Error

SDP 2009 Team Siqueira

Java Software Algorithm

The Java GUI program we developed takes 100
equally spaced measurements from a text file.
These distances correspond to a polar graph of the
closest observations.
Polar data is converted to cartesian co-ordinates and
then over-layed with previous plots to "triangulate"
location of free-space and obstructions.
The more result measurements result in a more
accurate final plot being produced.

SDP 2009 Team Siqueira

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20

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21

Picture of M5 study room

SDP 2009 Team Siqueira

Picture of M5 study room

SDP 2009 Team Siqueira

Picture of M5 study room

SDP 2009 Team Siqueira

Pictures of GUI output

SDP 2009 Team Siqueira

Power
3pi Robot uses 4 AAA
Batteries
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4x AAA Batteries will yield

3.5-5.5V
Want a stable 5V Vcc
source
3pi robot has a built-in
voltage regulator

SDP 2009 Team Siqueira

Power
3pi Battery Testing
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Ran tests with stepper motor, arduinos, and ultrasound

sensors connected
Stepper motor + arduino ~500mW
Power of entire system ~ 1W
Battery monitoring built into the 3pi
Expected Battery lifetime ~50 min

SDP 2009 Team Siqueira

Power (graph scale needs to be changed)

SDP 2009 Team Siqueira

Costs of Project
- Ultrasound sensor $28
- Pololu 3pi Robot $119
- Bluetooth Arduino $150
- Stepper motor $17
- Arduino Development board (no cost)
- Digital Compass (no cost)
- PCB $33
Total Cost: $347

SDP 2009 Team Siqueira

The Final Product

Cost for 1
- Ultrasound sensor $28
- Pololu 3pi Robot $119
- Bluetooth Arduino $150
- Stepper motor $17
- ATMega 168 (x4) $15.16
- Digital Compass $60
- PCB $33
Total Cost: $422

SDP 2009 Team Siqueira

1 Per 1000
- Ultrasound sensor $22.36
- Pololu 3pi Robot $119
- Bluetooth Arduino $119.96
- Stepper motor $11
- ATMega 168 (x4) $8.56
- Digital Compass $42.36
- PCB $15
Total Cost: $338

Demo Day
How do we expect to demo?
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Small model room with a few objects in it

A laptop set up for the GUI

SDP 2009 Team Siqueira

Questions and Comments

SDP 2009 Team Siqueira