Summer 2005 Team: from left to right: Gary Crum (MSU),
Mark Belz (MSU), Steve Nann (MSU), Danny Meekins (UMD),
Derek Sokloski (MSU), Justin McCoy (MSU), NASA Mike
Videos of Testing and Demonstrations
Autonomous Navigation
Currently during the summer we are continuing what was started last semester at MSU on the rover's autonomous vision navigation system using a SICK LADAR (LAser Detection And Ranging). With the current design, the robot can travel around obstacles it senses in its path that are at least as tall as the platform. The LADAR mount has been titled downward to allow the detection of objects on the ground closer to the robot.
New Sensors:
Inclinometer: Allows the robot to know its pitch and roll with respect to the horizon.
Sonar: A small sonar sensor will be attached to the front bottom of the robot to detect small objects in the blind spot of the ladar.
Infrared: Two small infrared sensors will be mounted on the sides to detect objects while the robot turns.
Mapping system:
The new mapping system is currently being integrated and tested on the robot in the office. It will be able to take the images from the ladar and produce a 3D view looking down on the scanned area. As the robot moves, it will combine those images on a grid to produce a complete map of the robot's path.
Robotic Arm
The servos on the joints of the arm allowing it to raise and extend outward caused problems because they couldn't handle a load on the arm without drawing a huge current. Worm gears will replace these servos, which will increase the torque for moving the arm and withdraw the need for a large current to hold a stationary position. The new gears and motors have arrived, and a new mount for the arm joints will be constructed.
Capaciflector Boundary Tracker
Recent discussions with Dr. Edward Cheung have brought about numerous changes in the capaciflector design. The three plate concept has been improved and now only requires two plates consisting of a shield and sensor. Fringing effects around the sharp corners of rectangular plates provide a ‘saturation point' for the electric field; this problem has been alleviated through use of circular plates. In order to obtain a more stable signal output the entire sensor wire/trace must be shielded by the shield wire/trace in both the transmission line and PCB. These advances in design along with using a proper ratio of the shield and sensor grouped with low temperature coefficient in circuit components produce extended range in detection and a more suitable frequency response.
***More current and detailed information can be located at each of the MSU team's web sites.