KnightCop Group 11 Elean Atencio Nitin Kundra CpE

KnightCop Group 11 Elean Atencio Nitin Kundra CpE

KnightCop Group 11 Elean Atencio Nitin Kundra CpE CpE The Project Remote controlled scout robot to aid police in hazardous situations Onboard manipulator arm for interacting with objects Environment sensors Video feedback Autonomous behavior Goals and Objectives Navigate across urban terrain Wireless control and data transmission (Video + sensors) Prefer dexterity (degrees of freedom) over strength in robot arm Intuitive UI Reliable and robust Specifications Max Dimensions lxbxh 30 x 30 x 30 in Operating Range

50 m Power Supply Voltage 12 V Minimum Speed 1 m/s Max Robot Weight 50 kg Video Feed 30 fps 640 x 480 px Arm Lifting Capacity 100 g Rotation Span 120 Robot Schematic Hardware Block

Diagram User Interface Wifi T/R Robot Ambient Light Battery Level Android Phone ENVIROMENT Temperature MCU ARM Power Laptop Wifi Router Motor Control Chassis Integrated Wifi Pan & Tilt Cam Obstacle

Detection Night Vision Video Feedback Elean Nitin Motor Control Microcontroller Microcontroller MSP430G25 53 ATmega32 ATmega256 8 0 PIC16F8 86 PIC18F47J 53 Architecture (bits) 16 8 8

16 8 Frequency (MHz) 16 20 16 8 8 Max Voltage (V) 3.6 5.5 5.5 5.5 3.6 Program Memory (KB) 16 32

256 14 128 RAM (KB) 0.5 2 8 0.359 3.71 USART/SPI 1/1 1/2 4/5 1/1 2/2 I/O Pins 24 23

86 25 44 8, 10 8, 10 16, 10 11, 10 13, 12 ADC (channels, bits) Mobile Base User Interface Robot Wi-Fi T/R Environment Sensors Android Phone Laptop MCU

Potentiometers Limit Switches Motor Control Power Unit Integrated Wi-Fi ARM Mobile Base Integrated Wi-Fi Mic/Speaker Cam AV Feedback Elean Nitin Wesley Obstacle Detection Motor Control Flashlight Mobile Base Drive Base Design and built by us Footprint: 12H x 18W x 25.5L

Pre-drilled aluminum 6 inch threaded wheels Gear ratio: 30:1 Tank drive configuration Drive Motors CIM Motor (AM802-001A) 12V DC Brushed No Load RPM: 5310 Max Power: 337 W Footprint: 2.5 diameter, 4.3 long Drive Motor Controllers Victor 888 Motor Controller Supply voltage: 6-15 V Continuous supply current: 60A Surge supply current: 150A PWM control Break and coast modes Footprint: 2H x 2.7W x 2.3L Proximity Technology Infrared Sensors - Cheap: $10-$15 - Narrow beam width - Problems in direct sunlight Ultrasonic Sensors - About double the price of infrared Poor detection of absorbent materials Wider beam width Detects items as close as 2 cm Ultrasonic Sensors

Parallax PING))) HC-SR04 Maxbotix LV-EZ1 SRF04 Supply Voltage (V) 5 5 2.5-5 5 Supply Current (mA) 30 2 3 30 Range (cm) 2-300

2-50 0-645 3-300 Frequency (kHz) 40 kHz 40 kHz 42 kHz 40 kHz 22x46x16 20x43x15 20x22x16 20x43x17 $29.99 $5.99 $29.95 $29.50 No

No Yes No size (mm) Price Cascade feature Arm System User Interface Robot Wi-Fi T/R Environment Sensors Android Phone Laptop MCU Potentiometers Limit Switches Motor Control Power Unit Integrated Wi-Fi

ARM Mobile Base Integrated Wi-Fi Mic/Speaker Cam AV Feedback Elean Nitin Wesley Obstacle Detection Motor Control Flashlight Arm System Manipulator OWI-535 Robotic Arm Robotic Kit (easier to modify) 9L x 6W x 15 H Lifting capacity 100 gram 5 Degrees of motion Price: $45 Arm Motor Controllers DRV8833PWPR Dual bridge motor driver Supply voltage: up to 11 V per channel Supply current: up to 1.5A per channel Over-current, under-voltage, overtemperature protection and Energy

savings mode PWM/Digital Control Footprint: ~.25 inch2 Price: ~$1.50 Com Systems User Interface Robot Wi-Fi T/R Environment Sensors Android Phone Laptop MCU Potentiometers Limit Switches Motor Control Power Unit Integrated Wi-Fi ARM Mobile Base Integrated Wi-Fi Mic/Speaker

Cam AV Feedback Elean Nitin Wesley Obstacle Detection Motor Control Flashlight Com Systems Communications ATmega2560 Wi-Fi module (RN-XV) I/O Pins Sensors Ad-hoc Wi-Fi Android APP PC APP DATA FLOW Communication

Technology Bluetooth 2.1 ZigBee S2 Wi-Fi Peak Range (m) 30 120 100 Frequency (GHz) 2.4 2.4 2.4 Bandwidth (Mbps) 2.1 0.25 11

Encryption Yes Yes Yes UART/USB UART/ USB UART/SPI/ USB 29.91 21 35 Interface Cost ($) Communication Device Wi-Fi Module Bluegiga Technologies Texas Instruments

Roving Networks WF111-A CC3000MOD RN171XVW-I/RM Protocol (802.11) b/g/n b/g b/g Max Data Rate (Mbps) 72.2 54 54 UART/USB/CSPI SPI UART Integrated U.FL

Wire 12 18 17 WPA, WPA2, WEP, CCMP, TKIP, WPS WEP, WPA, WPA2 WEP, WPA, WPA2 Surface Mount Surface Mount Through Hole 28.16 23.56 37.48 Model Interface Antenna Type Transmit Power (dBm)

Security Mounting Cost ($) Protocol J ava Socket Class Connection Request to Port Listener Port Socket Created for Communication A/V System User Interface Robot Wi-Fi T/R Environment Sensors Android Phone Laptop MCU Potentiometers Limit Switches Motor Control Power Unit Integrated

Wi-Fi ARM Mobile Base Integrated Wi-Fi Mic/Speaker Cam AV Feedback Elean Nitin Wesley Obstacle Detection Motor Control Flashlight A/V System Camera Make HackHD SEN11418 Foscam FI8910W D-Link DCS-932L NightVision

No Yes No Resolution 1920 * 1080 640 * 480 640 * 480 FPS 30 30 20 Microphone No Yes No H.264 MJPEG MJPEG

Composite MJPEG Stream MJPEG Stream Pan / Tilt No 300 / 120 No Cost ($) 159.95 65.00 69.70 Encoding Video Output Environment Peripherals User Interface Robot Wi-Fi T/R Environment

Sensors Android Phone Laptop MCU Potentiometers Limit Switches Motor Control Power Unit Integrated Wi-Fi ARM Mobile Base Integrated Wi-Fi Mic/Speaker Cam AV Feedback Elean Nitin Wesley Obstacle Detection

Motor Control Flashlight Environment Peripherals Ambient Light Sensors Make Vishay SEN-09088 Photo Cell ROHM Semiconductors TEPT4400 09088 BH1603FVC-TR 570 550 560 -40 to +85 -30 to +70 -40 to +85

Through Hole Through Hole Surface Mount 6 150 5.5 Power Dissipation (mW) 100 100 260 Cost ($) 0.62 1.50 1.15 Part # Peak Wavelength (nm) Operating Temp

(C) Mounting Peak Supply Voltage (V) Interfacing Light Sensor Output current directly proportional to illuminance: 0 A = 0 lux (dark) 48 A = 1000 lux (typical indoor lighting) 480 A = 10000 lux (daylight) Temperature Sensors Make Dallas Semiconductor Analog Devices Maxim Integrated DS18B20 TMP36 DS18B20 Max Voltage

Supply (V) 5.5 5.5 5.5 Min Temperature (C) -55 -40 -55 Max Temperature (C) +125 +125 +125 0.5 2 0.5 Output digital

analog digital Cost ($) 4.25 1.5 9.95 Base Part Accuracy (C) Interfacing Temperature Sensor One digital line for input/output Temperature reading corresponds to value in Temperature Register: 0 C 125 C = = 0x0000 0x07D0 hex_value / 16 = temperature in C Image by Sparkfun.com under Creative Commons ATmega2560 Code

potentiometer drivetrain read_analog (int analog_pin_number); turn (boolean dir, int motor1, int motor2); accelerate (double duration , int* motors); decelerate (double duration , int* motors); stop (int* motors); arm_control proximity_sensor ATmega2560 move_joint (int joint_number, double angle); rotate_base (double angle, boolean dir); open_gripper (); close_gripper (); toggle_light (boolean status); toggle_trigger (int digital_pin_num); start_delay (500); read_delay (50); poll_analog (int pin_number, int duration ); convert (double vcc, double analog_v); light_sensor USART_0 get_output_current (); set_threshold (int cutoff); send_output ();

rn_xvee transmit_data (int tx_pin); receive_data (int rx_pin); ---------------------------------------------------------------wiflyhq .h ---------------------------------------------------------------getSSID (char *buf, int size); getIP (char *buf, int size); setIP (const char *buf); setPassphrase (const char *buf); join (const char *ssid, uint16_t timeout =20000); temperature_sensor -----------------------------------dallas_temp.h -----------------------------------setResolutio n (uint8_t); getTempF (const uint8_t*); Java Code ProximitySensor =============================== - clearDistance: double[4] - pollTime: long - lastPolled: long - degreeSpan: int --------------------------------------------------+ pollSensor (int direction ): double + increaseSpan (int degrees): void + decreaseSpan (int degrees): void DriveControls =============================== - currentSpeed: double - distanceCovered: double - autoPilot: boolean - buttonPressDuration : long --------------------------------------------------+ moveForward (double 2_pi_r): void

+ moveBackward (double 2_pi_r): void + turnRight (): void + turnLeft (): void + isBlocked (): boolean TempSensor =============================== - currentTempF: double - currentTempC: double - forecastTemp: double --------------------------------------------------+ getTemperature (): double + toCelsius (double temp): double + toFahrenheit (double temp): double Navigation =========================== - sensors: ProximitySensor[4] - conversionFactor: double - fieldOfView : double - runSequence: int[4] --------------------------------------------+ pauseForRead (): boolean + suppressSensor (int index): int + activ ateSensor (int index): int + setIntent (): boolean + checkIntent (): int Java APP ====================== - targetUCport: int - ucDataInPort: int -----------------------------------+ pollDroidCop (): boolean + pollKnightCop (): boolean + runCameraScript (): void LightSensor

========================= - lightStatus: boolean - ambientLight: boolean - nightVision: boolean -----------------------------------------+ toggleLight (): boolean + toggleNightVision (): boolean <> CameraControl.ahk ============================= - pressDuration : number - filePath : string ----------------------------------------------+ PanLeft + PanRight + TiltUp + TiltDown + WriteLog + NightMode Socket ================================== -------------------------------------------------------+ bind (SocketAddress bindpoint): void + connect (SocketAddress bindpoint): void + getInputStream (): InputStream + getOutputStream (): OutputStream Battery ============================= - maxDuration : double - startTimer: double ----------------------------------------------+ setDuration (int interval): boolean + getRemaining (): double + isCharging (): boolean Navigation Example

main Yes UART available? fetch data from RN-XV extract operation code op_code 0x00 [ move fwd ] No return move forward control to drivetrain motors Yes path clear? No send error code control to proximity

sensor Light Check Example Interrupt Handler Analog Comparator Yes Current < 480 A? No Program Execution Toggle LED ON PC UI image from Wikipedia under CC Android UI Work Distribution Elean Chassis Design and Construction Nitin X Communications

X PC + Android Apps X Obstacle Detection X X Microcontroller Programming X X PCB Design X Power X Part Manufacturer Quantit y

Unit Price Net Price Maxbotix 4 $25.95 $103.80 1 $1.95 $1.95 CIM 4 $25.00 $100.00 OWI Robots 1 $45.00

$45.00 Arm Motor Controllers Texas Instruments 3 $2.00 $6.00 Drive Motor Controllers Vex Robotics 4 $69.99 Donated Micro Switch Sparkfun 2 $0.95 $1.50 RN-XV Wi-Fi Module

Roving Networks 1 $34.94 $34.94 Temperature Sensor Maxim Integrated 1 $4.25 $4.25 Ambient Light Sensor Sharp Electronics 1 $0.81 $0.81 Foscam 1

$65.00 $65.00 Atmel 1 $34.00 $34.00 Arduino 1 $45.95 $45.95 Atmel 1 $18.00 Sampled ExpressPCB 3 $33.00 $99.00

72 Aluminium Angle Vex Robotics 3 $29.95 $89.85 Sensor Brackets Vex Robotics -- -- 50.00 Trimpot 10K with Knob Sparkfun 4 $0.95 $3.80 ToughBox Nano 500 Hex Shaft AndyMark

4 $78.00 Donated 6 Plaction Wheel w/ Tread AndyMark 4 $29.00 Donated Hex Wheel Hub AndyMark 4 $10.00 Donated Spending Ultrasonic Sensors Potentiometer Thus Drive Motors Far Manipulator IP Camera AVR ISP

Arduino Mega 2560 ATmega2560 MiniBoards Question s?

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