In the following directories you will find final reports for several robots that were built in the class. Some students include their C code, PAL files, schematic drawings, etc. All documents are in Word 6.0 format.
Most of these papers cover a wide array of subjects, from original conception to details of completion.
Ziggy's goal in life is simply to dispense as many goodies to as many people as possible. Ziggy, the moving vending machine, will have a variety of behaviors designed to produce the overall goal of finding people or having people find Ziggy. To this end, Ziggy must be capable of following people, hearing sounds, and playing music (to get people's attention).
The mobile agent, Bot'arina, described in this report was built to explore the possibilities of the ability of a mobile agent to follow sound using only one directional microphone.
The author investigates a minimal sensor requirement for solid object acquisition and contouring for a mobile autonomous robot. Solid object acquisition is a superset of obstacle avoidance while contouring is a superset of wall-following behaviors
When completed, this robot will be capable of starting from a physical location, called base, and service several other locations, called stations, by stopping at those stations and allowing for equipment or material to be loaded.
The purpose of this project is to build a robot security guard. It must be capable of patrolling and area, detecting intruders, and approaching and following intruders.
Designing an Energy Managed Autonomous Agent is effectively dealt with by monitoring its battery level and changing its behavior accordingly. This is accomplished through the use of a voltage divider circuit, infrared LEDs, CdS cells, and software.
The agent incorporates collision-avoidance, straight-line, and berserking behaviors to achieve its specific application--to model an industrial-strength safety robot that safely removes strewn nails from a construction site.
The four main systems that make the robot, Thomas, capable of accomplishing the ultimate goal of Landmark Navigation are -- Expanded 68HC11 EVBU Board, DC Motor Actuation with Motor Encoders, Infra-Red Emitter/Detector Array, and Pan/Tilt Servo Head with Sonar Detector.
This progress report describes the early stages of the development of a vacuum cleaner robot prototype, both on hardware and software point of view.
The features of the robot includes obstacle avoidance, collision detection, self detection of anomalies (fan motor overload, either due to bag full of dust or fan stuck, and low power on the batteries) with the consequent heading through a maintenance station.
This progress report describes the early stages of the development of a vacuum cleaner robot prototype, both on hardware and software point of view.
The robot discussed in this report is intended to be used as a surveillance robot and programmed to avoid obstacles, follow light or follow movement using basic optic flow concepts. An adaptive obstacle avoidance behavior allows the robot to adapt to new environments, as well as enabling it to explore into large or small rooms.
This paper is a brief description of Cyclop (presented firstly as Fly): an autonomous mobile robot that was designed to do simple obstacle avoidance, bump detection and floor absence detection (in order to prevent Cyclop from falling into holes or abysses).
Nosey starts moving randomly avoiding obstacles and looking for a dark line on the ground. When nosy finds the line it follows it until the line leads him into a garage. The robot stays in the garage until it hears a loud sound.
This robot is intended to collect garbage and push it to the wall. The robot moves randomly and have to avoid obstacles that appear in his way. Other feature of GAROB is the capacity to automatic recharging when the batteries are low.
The objective of Zaphod is to be an autonomous agent that will have features such as obstacle avoidance, automatic transmission, a "pseudo-bumper," a land's end characteristic, a heat detection system, and also an override control.
The robot created for this project is built around the design of an improved Cyclops 360° vision system. A simple, low-maintenance platform, protective dome casing, and basic sensor package were made with the sensor in mind.
Dolphin is designed to be a robot that rescues people that are drowning in the water. It is made from a radio controlled model boat .
Mad Max is a mobile robot based on a modified remote control car platform. Object avoidance, reliant on external IR sensors, follows simple, proved techniques to guide Max through a room. The internal sensors, a wheel encoder and heat monitor, communicate important internal status to self-regulating behaviors.
The security robot will be designed to perform in important situations in which it would be too dangerous for humans to be a part of. The Building Security Robot (BSR) project is designed to implement many different functions such as heat detection, collision avoidance, sound effect, and light-following.
The robot moves randomly around in an enclosed space such as a building while looking for intruders with a pyroelectric sensor. Infrared sensors and bumpers are both used for object avoidance. The bumpers are also used for calibrating the infrared sensors.
It is my objective to design Spot the robot to exhibit behaviors inspired by humans. Spot has several unique behaviors including the ability to become inverted and still function normally. Other behaviors are: Rip VanWinkle Behavior, Scared of the Dark Behavior, Follow Bright Light Behavior, Fall and Live Behavior, Two Faced Behavior, Escape From Corners Behavior.
The robot "fetch" is a small, mobile robot equipped with a gripping claw and sensors that allow it to detect objects, pick them up, and deliver them to specific areas in its environment.
Faith is a female robot that not only looks good, but will be effective in protecting the home. Sensors include an IR detector, a smoke detector, and a receiver to help her accomplish her task of object avoidance, smoke detection, and intruder detection respectively.
Mojo was designed to be a cat and exhibit those behaviors associated with a cat. Mojo has IR sensors, CdS photoresistors, and a pyroelectric detector. These sensors allow Mojo to accomplish obstacle avoidance, light detection, and heat source detection.
Mazo is a robot designed to apprehend any prey that moves or makes noise. With a light body and a ergonomic layout of its components (sensors, processor, battery...), Mazo is able to respond quicker and better to the detection of a prey.
This project investigates the feasibility of application of vision sensing devices like CCDs to mobile robots. Emphasis is laid upon the simplicity and cost effectiveness of hardware and software to implement simple image processing onboard the robot.
"Ziggy" is a mobile robot created to behave as a prey to defend itself from "Mazo;" its counter part.
For my autonomous robot, I chose a predator based design. I focused on three distinct predator features: speed, maneuverability, heightened sense of environment, and the ability to sense it's prey.