802.11b-Controlled Robot Project PDF Print E-mail
Saturday, 14 March 2009 18:27

Standardized Interface for 802.11b-Controlled Robot Project
UCSD – Class ECE 191
9/05 – 12/05

The goal of of this project was to improve a previously developed tank project. The robot was originally designed by individuals in previous quarters of the same class, and was now our teams' responsibility to improve on previous added functionality as well as add more functionality to the tank. Our team consisted of four engineers including myself, in engineering disciplines such as electrical engineering, computer science, and computer engineering. The project was also headed by a mentor or sponsor, which gave us a budget as well as the original tank to start with. The project carried out through the 10 weeks in the quarter and was then graded on different areas, such as presentation, functionality, and overall management of the project and budget. Each week consisted of a presentational to discuss out progress in the project. Among the things discussed during the presentation included any problem or issues we were having with the project as well as the parts we had purchased for the project and why we had chosen them, and their advantages and disadvantages including what better parts we would've purchased if our budget for the project would allow it. Each presentation concluded with list of plans for the following week. An extensive documentation of the tank,it's functionality, features and how to operate it was prepared and delivered to the mentor.

The new features to be added on to the tank were the following:

  • Scaling down the DPAC board size onto a single stamp micro controller module
  • Adding sensors to the tank, 2 infrared proximity sensors were already on the tank
  • Adding power control to the wireless camera

Scaling down the board size onto a single stamp module and integrating the stamp within the tank was necessary, as it would remove the large board on top of the tank as seen in fig.1 & 2, onto a much small chip that would be placed inside of the tank away from view. It would also allow for the tank to carry less weight than it needed to. Removing it would also cut back on the undesirable appearance of the tank. The stamp would communicate by RS-232, and would be responsible for controlling all robot actuators and report robot sensor data.

The sensors that would be added to the tank were proximity sensors, and would be used to detect steep terrains and edges. Th e tank consisted of 8 infrared sensors and 2 ultrasonic sensors. The ultrasonic sensors were used to be able to detect an objects distance even in complete darkness. Having sensors all around the tank allowed us to have the best coverage (for the given budget) around the tank so that it would be able to detect obstacles all around it as well as edges, such as the ends of of a table to stop it from moving forward and falling.

Adding power control to the wireless camera was crucial as this would allow for energy conservation on the tank. The wireless camera would use up quite a bit of the power from the tank, as it would not have any power controls to shut if off when it was not in use. Power control was feature was added to the tank project to allow for longer periods of use of the tank, and less power strain on the batteries.


The original tank as it was delivered to us, with the large DPAC board mounted on top.

fig.1 fig. 2

The tank after it was completed, with the wireless camera still mounted on top.

fig. 3 fig. 4

Infrared sensor

fig. 5

Ultrasonic sensor

fig. 6

BS2e micro controller stamp (chip)

fig. 7

Board for BS2e stamp

fig. 8

Web page to control tank remotely.

fig.9

 

Last Updated on Saturday, 22 May 2010 22:19