SECON Team A IEEE SoutheastCon Hardware Competition 2011
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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
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