VRobust

VFeel
VThink
VAct
VRobustness: The mechanical stability
VModules:
‡ Layout
‡ Chassis
‡ Wheels
V Accommodate
‡ Sensors
‡ Processors
‡ Actuators
V Two Layers
‡ Top Layer
‡ Bottom Layer
V Control Electronics
‡ Micro Controller
‡ Motor Drivers
‡ LCD
‡ LCD Drivers
V Sensors and Actuators
‡ IR Sensors
‡ Comparators
‡ DC Motors
‡ Encoders (to measure distance travelled)
V Mechanical support to the device
V Fixing the DC Motors and Sensors
V Lathe shop
V Material used: Acrylic
V Mounting the top layer
V Motors
V Power Supply
V DC Motors
V Servos
V Stepper Motors
‡ Cheap, small
‡ Need gearbox
‡ Need shaft encoders
‡ Costs around INR 30
‡ H-Bridge
ë Discrete Component
‡ Need shaft encoders
‡ Can be driven without H-Bridge
‡ Come with attachments
‡ Costly
‡ Can cost around INR 500
‡ Less torque than DC motors for a given size and
weight
‡ Do not need shaft encoders
‡ Do not need gearbox
‡ Commonly used in Printers
V Dry Cells
V Rechargeable AA batteries
V Lead-Acid batteries
V Not Rechargeable
V Output: 1.5 V
V Too many cells required
V Voltage: 1.5V
V Should be disassembled every time to
recharge
V Too many cells required
V Output:
‡ 12V
‡ 1.3A
V Neednot be disassembled every time to
recharge
V Wall Feelers
V IR Sensors
V Wall Feelers
‡ Simple to make and adjust
‡ Tend to get hung up at wall openings
V IR Sensors
‡ Proximity
ë Easiest to implement
‡ Distance
V IR Sensors
‡ Guide the mouse
‡ Map the walls
V IR Sensors
‡ Detect navigation errors
V IR Sensors
‡ Pivot turn
V IR Sensors
‡ Arc turn
V Full Flood-Fill
‡ Cells are assigned distance values indicating
how far they are from the destination
‡ Destination cells are assigned a value of zero
      
  
  
  
 
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V Full Flood-Fill
‡ Make a move
‡ Record any walls
‡ Flood the maze
‡ Repeat
V Make a move

      
  
  
  
 
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V Map any walls

      
  
  
  
 
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V Flood the maze

      
  
  
 

 

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V Move to the open neighboring cell with
the lowest distance value

      
  
  
 

 

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V Map any walls

      
  
  
 

 

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V Flood the maze

      
  
  
 

 

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V Move to the open neighboring cell with
the lowest distance value

      
  
  
 

 

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V Map any walls

      
  
  
 

 

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V Flood the maze

      
  
  
 

 

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V Move to the open neighboring cell with
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V Full Flood-Fill
‡ Make a move
‡ Record any walls
‡ Flood the maze
‡ Repeat
V Modified Flood-Fill
‡ Change distance values as you explore the maze
V An example 3x3 maze
V Starting state:
V Move to the open neighboring cell with
the lowest distance value
V Walls
are found and mapped during
exploration
V Following distance values
V Another wall
V If a cell is not the destination, its value
should be one plus the minimum value of
its open neighbors
V Need to update numbers
V Other cells now need to be updated
V More updating
V More updating
V Done updating
V Can now find destination cell
V ßse same technique to get back to start
V Modified Flood-Fill
‡ Move to the open neighboring cell with the
lowest distance value
‡ Record any walls
‡ ßpdate distance values if necessary
‡ Repeat
V Modified Flood-Fill
‡ ßpdating distance
values
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V DC Motors
V Driver
‡ H-Bridge
ë Discrete
ë SGS Thompson L293D
ë Can drive two motors
ë 600mA per motor
V Disc with 32 slits
V Transceiver placed across the disc
V A pulse is generated after crossing each
slit
V Distance after 1 pulse = 2šR/32
V Military
V Rescue missions
V Can be sent for spying
V Execute automated explosions/ attacks
-uestions?