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Robert Johnston, Patrick Steely, Kyle Mcneil, Derek Niro,

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Title: Robert Johnston, Patrick Steely, Kyle Mcneil, Derek Niro,


1
NETWORK SURVEILLANCE ROBOT
Robert Johnston, Patrick Steely, Kyle Mcneil,
Derek Niro, Renee Straney, Juan FM Rivera,
Daniel Hemmingson
rsj032000_at_utdallas.edu, psteely22_at_hotmail.com,
ksm044000_at_utdallas.edu, dsn021000_at_utdallas.edu,
rls013400_at_utdallas.edu, JuanFMRivera_at_gmail.com,
danhemmingson_at_gmail.com
Department of Electrical Engineering Erik Jonsson
School of Engineering Computer
Science University of Texas at Dallas Richardson,
Texas 75083-0688, U.S.A.


Project Results
Project Goals
  • Development of software used to control leg
    movement which includes
  • Duration of servo rotation
  • Order of servo movement for balance
  • Direction of robot
  • Create a miniature companion to the Mars Rover
    exploration robot capable of exploring
    locations inaccessible to the larger robot
  • Testing of functionality of quadruped design
  • Develop manual and autonomous control systems
  • Access robot and send commands from a remote
    source
  • Data transmission over Wi-Fi network from robot
    to host
  • Camera functionality including video capture and
    transmission

echo e 0 P500 T1000\r gt /dev/ttyS0 echo e
0 P1500 T1000\r gt /dev/ttyS0 echo e 0
P2500 T1000\r gt /dev/ttyS0 (Single Servo
Commands)
Project Overview
  • Established network between host and Gumstix
    boards which provides control for robot
    movement.
  • Forward motion with robot using specific
    individual movement of legs. We decided to
    program the legs for balance and efficient power
    usage.
  • Gumstix microcontroller Brain
  • Gumstiix Console-VX I/O control interfacing with
    camera and servo controller
  • Gumstix Wi-Fi card interfacing with a larger
    robot or control unit
  • Wireless control from the larger robot or another
    control station
  • Autonomous exploration
  • Rechargeable batteries using solar panels
  • Avoid and Scale terrain
  • Take and transmit pictures

A SSC-32 Servo Controller B Gumstix bundle C
Servo mechanism
Project Conclusions/Outcomes
  • Programmed manual functions with shell scripts,
    allowing for powerful control and
    resource management.
  • Design of Networked Surveillance Robot completed
    with wireless control from remote host.
  • Forward motion achieved using our particular
    movement pattern.
  • We chose this design for efficiency in otherwise
    inaccessible terrain i.e. jagged rock
    formations and small craters.
  • Future design includes
  • Camera functionality enabling data transmission
    back to main server for compilation into video.
  • Terrain avoidance and scaling.
  • Autonomous exploration.
  • Rechargeable batteries using solar panels.
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