Designers:
Jennifer Andrade Warren Hirschbuehler Scott Hansen
Ronald Estacio Erik Marshall
Senior Project October 19th, 2004
Table of Contents
Background
Tasks
Scout Chassis
Power Supply Design
Sensor/Transmitter Design
Motor Control
Timeline
Budget
Recap
Contact Information
Background
Problem:
A land mine is detonated every 22 minutes. 1
Approximately 26,000 people are injured or
killed a year.
Most casualties are women and children.
1 – www.cnn.com/WORLD/9710/10/land.mines/
Background (cont)
Obstacles:
Estimated there are 110,000 land mines in
existence. 2
Cost per removal of a site.
$300 to $3000
Overall estimated cost to remove all sites.
$33 Billion
Laborers not frequently willing to volunteer
for mine location and removal.
2 - www.unicef.org/sow96/91dmines.htm
Background (cont)
Solution:
Autonomous Vehicle used for detection and
removal of mines.
Relieves:
High cost of removal
Expensive locating tactics
Expensive labor costs
Senseless human casualties
Tasks
Scout Chassis:
Rear wheel differential steering
Two rear driving wheels
Benefits:
Ease of control when turning
Fewer Motors reduces power consumption
Pushing increases traction on inclines
Tasks (cont)
Scout Chassis:
Main plate angled downward
Benefit:
Reduces chance of flipping when on incline
l1
w 2
T T
l2 l3
T1 = l1
2
w 2 2
l2 T3 = l3
T2 =
cos w 2
cos w
2
T3 < T2 < T1
Tasks (cont)
Power Supply Design:
Source:
14.4 Vdc Battery
Dependants:
Motors
14.4 Vdc (pulse modulated)
Sensors (IR and Ultrasonic)
5 Vdc
Transmitters (IR and Ultrasonic)
5 Vdc
Pegasus Board
3.3 Vdc
Tasks (cont)
Power Supply Design:
Battery
Voltage Regulator
14.4 Vdc
Main Switch
3.3 V 5V
A/D IR
Converter Sensors
Left Motor
Left Pegasus
H - Bridge
Ultrasonic
Right Motor Sensors
Right
FPGA
H - Bridge
Encoders
14.4 Vdc 5 Vdc 3.3 Vdc Comms
Tasks (cont)
Sensor/Transmitter Design:
Sensors:
PIC
Sensor Pegasus
A/D
Infrared
Mine code detection
Ultrasonic
Mine detection
Pegasus
Transmitters:
Infrared
Mine code disabling Transmitter Driver
Tasks (cont)
Sensor/Transmitter Design:
Transceivers:
Infrared
Encoders
Line followers
Ultrasonic
Obstacle avoidance PIC
Sensor A/D Pegasus
Transmitter Driver
Tasks (cont)
Motor Control:
Motors:
Gearbox - 64.4 : 1 DC
Encoders:
IR transceivers
Look-across sensors
Pegasus:
Interfaces with H-Bridge
Speed and Direction
Pulse width modulation
Encoders
Line following
Tasks (cont)
Motor Control:
Timeline
Task 1
Task 2
Task 3
Task 4
Task 5
Task 6
Task 7
Task 8
Task 9
Task 10
Task 11
Budget
For time, materials, and research, an initial
investment of two-hundred fifty dollars will be
required to bring this project to fruition.
This low budget is to produce a robot that is an
inexpensive alternative to current options.
Recap
Background
High cost and casualty creates a need for alternative
Tasks
Scout Chassis
Two wheel differential rear drive
Power Supply Design
Multiple voltage requirements
Sensor/Transmitter Design
IR and Ultrasonic sensors multiple uses
Motor Control
Pegasus / H-Bridge driven with encoder feedback
Timeline
Several concurrent processes being done simultaneously
Budget
Low budget
Contact Information
San Diego State University
Electrical and Computer Engineering Dept.
5500 Campanile Drive
San Diego, CA 92182
www.scout.sdsu.edu
scoutindustries@yahoo.com