This page contains a list of key milestones and deliverables.
Q1 -- Analysis of the Internet resources to build a knowledge base.
This stage will give valuable information about possibilities,
potential difficulties and let to evaluate our real abilities.
In progress
The result is maintained on the list of the links and
analysis. This stage will probably never be over.
Q2 -- Describe experimental goal of the project (the purpose of the
robots)
Well defined goal is the most important part of every project. Here we
need to write down what do we exactly expect from the project.
In Progress
The purpose of the robots is:
Q3 -- Design mechanical construction of the robots
There must be analyzed a few approaches how to carry the whole luggage
smoothly, accurately and efficiently.
In Progress
This step is associated with many experiments building elements of suspension
and chassis.
This goal is practically associated with Q6 in cycle of "design, build
and test".
Q4 -- Design hardware architecture of the robots' circuits
The hardware architecture must be modular to allow decrease development
costs. Modular structure of the hardware allows easy exchange the modules
like sensors, communication units and even CPU.
In Progress
Unfortunately modular architecture creates difficulties in miniaturization of
the robots because of there must exist kind of internal bus. One of the
simplest solution is connecting the modules using I2C or SPI (PIC
microcontrollers).
Q4.1 -- Decide what kind of MCU to use
Completed
PIC (Microchips) microcontrollers family have been chosen mainly because of cost efficiency,
ability to upload a program without removing MCU from a circuit, and availability
of Serial Peripheral Interface.
Q6 -- Build first prototype of mobile unit to solve mechanical
problems
In Progress
The main chassis with two suspension
elements has been built and tested. First problems discovered and
analyzed.
Q7 -- Build first circuit to control the mobile unit
In Progress
Q7.1 -- Develop detectors' hardware
In Progress
The detectors are extremely important in robot control algorithms. They
must be accurate and reliable.
IR proximity detector based on Sharp IS471F IC has been assembled and
tested.
Q7.2 -- Develop MCU
In Progress
The MCU is built using PIC16F73 microcontroller. Regular DC motors
are powered using Quadruple Half-H Driver SN754410 (Texas Instruments).
Q8 -- Develop
robot-to-PC and robot-to-robot communication.
Communication with PC can give valuable information about robot's internal
state.
Not started
Q8.1 -- Build prototype of communication unit's circuit.
The main goal of this step is to provide means for developing
communication protocol software.
Not started
Q8.2 -- Define and develop communication protocol
Not started
Q8.3 -- Develop GUI to visualize robot internal state and to enable
control the robot on behavioral and motion levels.
Not started
Q9 -- Test control over the robot using remote control
Not started
Q10 -- Implement internal program controlling the robot
Not started
Q11 -- Build more robots...
Not started
Q12 -- Experiment trying to achieve project's goals
Not started
