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.