Presentation - Department of Computer Science at Hood College
Presentation - Department of Computer Science at Hood College
Presentation - Department of Computer Science at Hood College
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Robotics Pl<strong>at</strong>form<br />
Development<br />
Adam Tolley<br />
CIS 4914 Senior Project<br />
May 2, 2008
Purpose<br />
To design and investig<strong>at</strong>e a pl<strong>at</strong>form th<strong>at</strong> is:<br />
•Cost effective<br />
•Capable, Flexible, and Durable<br />
•Easy to build, use and modify<br />
•Worthwhile
Critical Technologies<br />
‣ Microcontroller System<br />
• Hardware<br />
• Language<br />
• Protocols<br />
‣ Navig<strong>at</strong>ion<br />
‣ Perception<br />
‣ Locomotion<br />
‣ Structural Components
TubeBot Solution<br />
‣ Two Wheel Pl<strong>at</strong>form<br />
• High Maneuverability<br />
• Reduced complexity<br />
• Reduced part count<br />
‣ Poster-tube Construction<br />
• Low cost<br />
• Easy to modify<br />
• Protects interior electronics
Iter<strong>at</strong>ions
Iter<strong>at</strong>ions
Iter<strong>at</strong>ions
Iter<strong>at</strong>ions
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Iter<strong>at</strong>ions
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Iter<strong>at</strong>ions
Iter<strong>at</strong>ions
Iter<strong>at</strong>ions
Iter<strong>at</strong>ions
Iter<strong>at</strong>ions
Iter<strong>at</strong>ions
Experiments with Pl<strong>at</strong>form<br />
‣ Object Centered Development<br />
‣ LED, Bluetooth and Audio Feedback<br />
‣ Integr<strong>at</strong>ion <strong>of</strong> GPS and Compass<br />
‣ Object Detection and avoidance<br />
‣ Mixed terrain performance<br />
‣ Way-point navig<strong>at</strong>ion
Simple Object Diagram
Key learning areas<br />
‣ Propeller Microcontroller<br />
• Language<br />
• Difficulty<br />
• Abilities<br />
‣ Dynamic GPS Navig<strong>at</strong>ion<br />
• Compass variances<br />
• L<strong>at</strong>itude, Longitude scale r<strong>at</strong>ios<br />
‣ Mechanical Issues
Moving Forward<br />
‣ Lessons Learned<br />
• Many issues are electrical, not code.<br />
• Many issues are timing, not electrical.<br />
• Reinventing the wheel is detrimental to<br />
investig<strong>at</strong>ion <strong>of</strong> robot algorithms<br />
‣ Commercial Pl<strong>at</strong>form Development<br />
• Possible career opportunity<br />
• Practical Applic<strong>at</strong>ion <strong>of</strong> lessons learned<br />
• Gre<strong>at</strong>er fulfillment <strong>of</strong> original goal set
Conclusion and Thanks<br />
For the opportunities, guidance and resources provided<br />
by the <strong>Hood</strong> <strong>College</strong> <strong>Computer</strong> <strong>Science</strong> Program
Liter<strong>at</strong>ure<br />
• The Robot Builder’s Bonanza<br />
‣ Covers mechanical and programming for simple robotics pl<strong>at</strong>forms<br />
‣ Includes inform<strong>at</strong>ion on basic fabric<strong>at</strong>ion with few specialized tools<br />
‣ ISBN: 978-0071413572<br />
• Comput<strong>at</strong>ional Principles <strong>of</strong> Mobile Robotics<br />
‣ Covers detailed mechanical design issues like rot<strong>at</strong>ion speed <strong>at</strong> various turn radii<br />
‣ Includes method and theory for object detection, mapping, navig<strong>at</strong>ion, and perception.<br />
‣ ISBN: 0-521-56876-5<br />
• Manuals and Technical Specific<strong>at</strong>ions from:<br />
‣ Parallax<br />
‣ BaneBots<br />
‣ Dimension Engineering<br />
‣ Trossen Robotics<br />
• Internet Forums<br />
‣ Parallax<br />
‣ Sparkfun Engineering
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