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Crearea robotilor pentru explorare comandati la distanta

Towards Remote Exploration Robots

Earth-Rover 2011
Concurs international de proiectare in robotica
International Robotics Design Competition
Rev 25 Mar 2011

Pregătit de:
Dan Milici, Victor Ababii, David Lewis Anderson

www.Earth-Rover.com
Technical University University World Genesis Anderson
1 Of Moldova of Suceava Foundation Multinational LLC
Earth-Rover 2011

Conţinut - Contents

1 Prezentare Generală / Overview

2 Program si Reguli / Schedule and Rules

3 Specificaţii / Specifications

4 Project Communications

Towards Remote Exploration Robots


Crearea robotilor pentru explorare comandati la distanta
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Descriere - Description
 Concurs international de proiectare  International Robotics Design
i robotica
in b ti C
Competition
titi
 Tema - Roboti pentru explorare  Theme of Remote Exploration
comandati la distanta Robots
 Locul - Desfasurat in universitati din  Multiple University Teams in
Europa Centrala si de Est Eastern Europe
 Data desfasurarii - februarie -  Operating from February to
decembrie 2011 December 2011
 Concursuri va avea loc la Suceava  Competitions to be held in
şi Chişinău
ş ş în luna iulie. Suceava and Chisinau in Julyy
 Etapa finală va avea loc în  Final competition to be held in
septembrie la Universitatea September at the Technical
Tehnică a Moldovei din Chişinău.
ş Universityy of Moldova in Chisinau

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Obiective - Objectives
1. Obtinerea resurselor pentru implicarea in concurs a 1. Deliver resources to six universities for the planning,
sase universitati, in vederea proiectarii, dezvoltarii si development and demonstration of a remote-
realizarii unui robot functional exploration robot.

2. Creare de oportunitati educationale pentru studentii 2. Create academic educational opportunities for
în informatica, inginerie electrica si mecanica. students in computer science, electrical and
g g
mechanical engineering.
3. Furnizarea unor importante "deprinderi de viata" si
oportunitati educationale pentru studenti: planificare, 3. Provide important “life skills” educational
management de proiect, prezentare, comunicaţii, opportunities for students: planning, project
leadership si lucrul în echipa. management, presentation, communications,
leadership and teamwork
teamwork.
4. Implicarea studentilor intr-un proiect competitiv,
distractiv si interesant. 4. Inspire students through the process by providing a
very competitive, fun and exciting project.
5. Reunirea echipelor universitare intr-o competitie
finala dedicata institutiilor de invatamant din regiune 5
5. To bring university teams together with each other
for a final competition and with other schools in their
6. Demararea unui eveniment anual dedicat roboticii region and communities.

6. Create basis for an annual robotics event.

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Crearea robotilor pentru explorare comandati la distanta
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Earth-Rover 2011
Provocarea - The Challenge
Similar cu Mars Rover, se dezvolta un robot de explorare la distanta, care
poate fi controlat de pe Pamant sa îndeplineasca sarcini la distanta
distanta.

Similar to Mars Rover,


Rover develop a remote exploration robot that can
be controlled and perform tasks at a distance on Earth.

Towards Remote Exploration Robots


Crearea robotilor pentru explorare comandati la distanta
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Earth-Rover 2011
Provocarea - The Challenge
Singura legatura între student si robot este Only connection between student and
Wifi, Radio Internet, 3G
reteaua wireless utilizata pentru monitorizarea 4G or Global Internet
robots is wireless network for monitoring
si controlul audio, video, GPS, a senzorilor si and control of two-way audio, PTZ video,
sistemelor servo, la distanta. GPS, sensors and remote actuators.

 Students completely isolated from Robot  Echipa va fi complet izolata de robot.


 Robot monitoring and control via developed software  Robotul va fi monitorizat si controlat pe baza software-ului dezvoltat.
 Students must successfully manage robot  Studentii trebuie sa gestioneze intreaga activitate a robotului.

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Partnership Agreement
Universities will be provided with: Students must develop and deliver:

 Programmable Wi-Fi robotic system  A working remote-exploration robot


communications controller system including:
 Remote relaysy and servo actuators  Presentations of their planning,
progress and final system design
 GPS Navigation receiver and antenna
 Participation in the final competition in
 Mobile IP Camera with Wi-Fi, two-way Chisinau and at least one additional
audio, night vision, pan and tilt sanctioned event
 Robot system mechanical chassis  Fundraising to cover team travel costs
 Training presentations, specifications to Earth-Rover events
and support for all the above  Lectures and demonstrations of their
robot systems at schools in their local
Note: Students must plan and design the communities
systems 1) component integration, 2)
power supplies, and 3) control software.

Earth-Rover 2011

www.Earth-Rover.com

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Competition Events (for example only)
1. Testing vehicle mobility and remote control system - Team must navigate their remote robot in daylight through
and over challenging physical obstacles to reach a goal. (stairs, rocks, etc)
2. Testing remote control in daylight - Team must navigate and reach a target during daylight and complete a task,
perhaps knocking down a target cylinder without touching others
3. Testing night vision system and control - Team must navigate and reach a target during night and complete a
task, perhaps knocking down a target cylinder without touching others
4. Testing GPS - With remote vision system disabled, the team must navigate as close to a remote target only using
only the Global Positioning System interface in their robot and remote control system. The closest team wins.
5. Robot Speed - The team must successfully navigate a course in the shortest time possible.
6. Robot Endurance - The team must complete as many courses as possible before their remote battery systems fail.
7. Design Considerations
C and Public SSpeaking - The teams must do a public presentation presenting their robot and
their design considerations.
8. Robot Talent Show - Each team must demonstrate one function they added to their robot that will complete a
special task. The most unique, successful and practical task that applies to remote exploration robotics wins.
9
9. Landing and Orientation - Robots will be taken to an initially unknown location
location. Teams must then initialize and
then navigate their robot to a target point to complete a task.
10. Remote Reset - Team must demonstrate in event of a system failure that they can completely reset their robots
from remote and then successfully complete a task.

This event list is preliminary, for example only. The final events
for the main competition will be provided in March.

www.Earth-Rover.com

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Earth-Rover 2011
Program – Schedule (2011) rev. 21 Jan 2011
Pre- Demonstrations and Post-
Competition Competitions Competition

Phase 1 Phase 2 Phase 3

Universities Selected Equipment Delivery 1/2 Pre-Final Competitions Demonstration at UNESCO


Project S
Suceava & Chi
Chisinau
i
and
dCContracts Si
Signedd 10 FFeb
b S
Science Academy
Internet Services July
28 Jan 1-5 Aug
Online Equipment
1 Jan 2011 Delivery 2/2 Final Competition in
28 Apr Chisinau, Moldova

2011 JAN FEB MAR APR MAY JUN JUL AUG SEP OCT NOV DEC

Robot Planning and Development Demonstrations by teams in


in University Curriculums schools in local communities
Feb – Jul Sep – Dec
University Pre-Final Competitions
Application Suceava, Chisinau, and
Process UNESCO Academy
1-24 Jan Jul – Aug

Target to deliver robotics education to more than 10,000 youth throughout 2011

Towards Remote Exploration Robots


Crearea robotilor pentru explorare comandati la distanta
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Earth-Rover 2011
Locaţie - Location
 Proiectul are trei etape: Pre-Concurs,
Etapa finala a concursului si Post-
Post
Earth-Rover will include 6-7 Universities
Concurs
from across the region
 Etapa Pre-Concurs implica alegerea
celor sase universitati
 Pre-Concursul implica desfasurarea
curriculum-ului in perioada februarie -
iulie 2011.

 Three Project Phases: Pre-Competition,


Technical University
of Moldova
Final Competition and Post-Competition
(final competition)
 Pre-Competition to Include Six
Universities (see diagram)
 Pre Competition integrated into university
Pre-Competition
curriculum from February to July 2011.

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Participating Universities
1. Technical University of Moldova, Computer
Sciences (Moldova)

2. Technical University of Moldova,


4 Microelectronics and Nanotechnology
(Moldova)
6
7 3. ME&CEC_Moldova, Microelectronics and
1 Computers Engineering College (Moldova)
2 3
5 4
4. Yuriy Fedkovych Chernivtsi National
University (Ukraine)

5. Odessa Polytechnic University (Ukraine)

6. University of Suceava, Faculty of Engineering


and Computer Science (Romania)

Technical University of Moldova 7


7. University of Suceava,
Suceava Faculty of Engineering
(final competition and conference) and Computer Science (Romania)
22 – 24 Sep, 2011

Towards Remote Exploration Robots


Crearea robotilor pentru explorare comandati la distanta
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Earth-Rover 2011
Locaţie - Location
 Etapa finala a concursului va avea loc la Chisinau
22 – 24 Sep, 2011  este principalul eveniment al proiectului si va reuni toate cele
6 echipe concurente
 Echipele si robotii lor vor fi implicate in mai multe evenimente
ce se for desfasura la Suceava si Chisinau.
 Etapa Post-Concurs: Echipele vor face
demonstratii cu robotii realizati la:
 Academia de vara UNESCO pentru stiinte Atlantykron –
Etapa finală va avea loc în septembrie la Romania
Universitatea Tehnică a Moldovei din Chişinău.  In institutiile lor si in comunitatile din care provin

 Final Competition will be held in Chisinau


 Main event of the project with all six teams
 Earlyy competitions
p in Suceava and Chisinau
 Teams and Robots competing in multiple events
Early competitions to be held in July in  Post Competition: Teams requested to
Suceava and Chisinau demonstrate their robots at:
 UNESCO Summer Science Academy in Romania
 Schools in their Local Communities

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Earth-Rover 2011

Coordonatori - Coordinators

Dan Victor David Lewis


Milici Ababii Anderson

 University of Suceava  Technical University of  President & CEO,


CEO World
 Facilitator for University Moldova in Chisinau Genesis Foundation
Teams in Romania  Facilitator for University  Facilitator for General
 Project rules development Teams in Moldova Program and Ukraine
 Final Competition  Project rules development  Equipment Management
Coordinator  Final Competition and  Project documentation
Conference Coordinator and progress reporting
Contact: Dan.Milici@Earth-Rover.com
Dan Milici@Earth Rover com Victor.Ababii@Earth-Rover.com
Victor Ababii@Earth Rover com David Anderson@Earth Rover com
David.Anderson@Earth-Rover.com

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Reguli / Rules
1. Fiecare echipa poate avea maxim sapte membri si va cuprinde un cadru didactic ca antrenor si consilier. Toti ceilalti membri trebuie sa fie studenti înscrisi în universitatea inscrisa in
competitie la licenta sau masterat..
2. Fiecare echipa trebuie sa completeze, pentru a intra in program, o cerere, în ianuarie 2011 pe Earth-Rover.com. Daca cererea va fi aprobata, echipa trebuie sa semneze un contract
care sa cuprinda angajamentul de respectare a regulamentului concursului,
concursului termenii si conditiile,
conditiile înainte de a primi echipamentele.
echipamentele
3. Fiecare antrenor va asigura integrarea proiectului în curriculum universitar nonformal si va asigura respectarea de catre echipa a tuturor regulilor si conditiilor.
4. Fiecare echipa va lucra în laboratoarele universitatii proprii. Toate echipele vor primi echipamente similare care vor fi alocate si transmise in universitati în februarie 2011.
Echipamentele vor fi expediate antrenorului echipei cu exceptia cazului în care s-a convenit altceva.
5. Fiecare echipa va furniza rapoarte periodice referitoare la activitatile realizate in cadrul proiectului, care vor reflecta munca echipei pe intreaga perioada a desfasurarii competitiei.
6. Fiecare echipa va asigura transportul pentru reprezentantii echipei si sistemul realizat in vederea realizarii de prezentari si pentru participarea la etapa finala a concursului Earth-Rover
2011 care va cuprinde pre pre-jurizarea
jurizarea la Suceava,
Suceava Romania,
Romania în luna iulie 2011 si Ceremonia de premiere la Chisinau,
Chisinau Republica Moldova,
Moldova in septembrie 2011.
2011
7. Fiecare echipa este, de asemenea invitata sa faca demonstratii cu sistemul realizat la în august 2011 la Academia de vara UNESCO pentru stiinte Atlantykron - Romania. În plus,
echipele vor fi solicitate sa utilizeze sistemele lor robotizate pentru demonstratii in scoli, în comunitatile lor locale pe tot parcursul anului 2011.
8. Detalii cu privire la etapele concursului si la regulile etapei finale Earth-Rover 2011 de la Suceava si Chisinau vor fi postate pe Earth-Rover.com în februarie 2011.
9. Limba oficiala, pentru comunicare orala si scrisa, este limba engleza.

1. Each team may have a maximum of seven members. One must be a faculty member as Coach and Advisor. All others must be students enrolled in the university.
2. Each team must complete an application in January 2011 on Earth-Rover.com to be considered. If approved the teams must sign a contract indicating their commitment to the project
rules, terms and conditions before receiving any equipment.
3. Each Coach and Advisor will ensure the project is integrated into their university curriculum and their team complies with all project rules, terms and conditions.
4. Each team will work in a university laboratory environment. All teams will be provided similar equipment that will be allocated and shipped to the university teams in February 2011.
Equipment will only be shipped directly to each team’s Coach and Advisor unless otherwise agreed.
5. g
Each team will agree to p
provide p
periodic p
progress
g reports
p to the Earth-Rover management
g team on their work throughout
g the 2011 calendar yyear.
6. Each team agrees to transport their robotic system and representatives from their team to make presentations and compete in the final Earth-Rover 2011 Competition and Awards
Ceremony in Chisinau, Republic of Moldova in July 2011.
7. Each team is also invited to demonstrate their system at a UNESCO Science Learning Academy in Romania in August 2011. In addition, the teams will be requested and required to
use their robotic systems for demonstration to students in schools in their local communities through the remainder of the year.
8. The details of the competition events and rules for the final Earth-Rover 2011 competition in Chisinau will be posted on Earth-Rover.com in February 2011.
9. The official language, for oral and written communication, is English.

Towards Remote Exploration Robots


Crearea robotilor pentru explorare comandati la distanta
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Crearea robotilor pentru explorare comandati la distanta
Towards Remote Exploration Robots

Competition Kits
The following slides provide a brief
overview of competition kits to be provided
Rev 25 Mar 2011

Pregătit de:
Dan Milici, Victor Ababii, David Lewis Anderson

www.Earth-Rover.com
Technical University University World Genesis Anderson
15 Of Moldova of Suceava Foundation Multinational LLC
Earth-Rover 2011
Competition Kits
 Components Provided
Chassis
 Chassis,
Ch i MMotors
t and
dGGears
Camera
 Wifi Robotics Controller
GPS  Switches
Controller  Servo
 IP PTZ Camera
Servo
 Global Positioning System’
Switches
Software  Developed Components
Power  Power System
 Robot Control Software

www.Earth-Rover.com

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Earth-Rover 2011
6-Wheel
6 Wheel Drive All-Terrain
All Terrain Chassis
Designed
Chassis
specifically
Camera for
robotics
GPS
Controller

Servo

Switches  Corrosion resistant anodized aluminum chassis


 Adjustable
j “Super-twist”
p suspension
p system
y
Software
 Huge spiked rubber tires
Power  6x powerful motors with steel gear boxes
 2x battery compartments for 77.2V
2V sub C battery packs
 Large top deck to hide cables and mount hardware

www.Earth-Rover.com

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Earth-Rover 2011
6-Wheel
6 Wheel Drive All-Terrain
All Terrain Chassis

Chassis
Camera

GPS
Controller
 The suspension is a simple but rugged torsion spring design with rubber
Servo
mounts to provide a firm but flexible joint.
Switches  Multiple attachment points all for adjustment of sprint tension and travel.

Software

Power

www.Earth-Rover.com

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Earth-Rover 2011
6-Wheel
6 Wheel Drive All-Terrain
All Terrain Chassis

Chassis
Camera

GPS
Controller

Servo

Switches
Gearboxes us heavy duty
Six p
powerful motors with
Software steel gears and brass
steel gearboxes bushes for greater durability
Power

The chassis system is able to traverse rough terrain and steep inclines with ease

www.Earth-Rover.com

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Earth-Rover 2011
6-Wheel
6 Wheel Drive All-Terrain
All Terrain Chassis

Chassis Specifications
 Size: 420 × 300 × 130 mm (16.5" × 12" × 5")
Camera  Weight: 2.7 kg (6.0 lb)
GPS  Ground clearance: 60 mm (2.5") when lightly
loaded
Controller  Maximum recommended payload: 5 kg (11 lb)
 Recommended motor voltage: 2 – 7.5 V
Servo
 Stall current at 7.2 V: 6.6 A per motor
Switches  No-load current at 7.2 V: 420 mA per motor
 No-load output shaft speed at 7.2 V: 160 RPM
Software  Stall torque at 7.2 V: 11 kg-cm (160 oz-in) per
motor
Power
Students may use the chassis as provided or design
their own chassis using provided components.

www.Earth-Rover.com

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Earth-Rover 2011
Speed Controller
 Product Features
Chassis  Dual-motor Drivers
 Voltage Range 6.0 – 25.0 V Input
Camera  Current handling up to 18V, 12A Continuous /
25A Peak Power Rating per Channel
GPS  Current handling at 24V
24V, 10A continuous
continuous, 12A
with airflow, 25A Peak per channel
Controller  Over-current and Thermal Protection
 Acceleration Ramping, DIP Switch Selectable
Servo
 Synchronous Regenerative that Recharges
Batteries When you Slow Down or Reverse
Switches
 Built-in 5V, 1 Amp, Auxiliary Power Supply
Software  Integrated Lithium Cutoff Allows Safe Operation
with Lithium Ion and Lithium Polymer Batteries
• Support Documents:
Power  Size 2.3" x 1.8" x 0.75" Weight 1.5 oz (43g)
•Wiring
g Diagram
g
A Flexible Speed Controller
Visit www.Earth-Rover.com to download

www.Earth-Rover.com

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Earth-Rover 2011
IP Camera

Chassis  Product Features


Camera  IP Color Camera
GPS  640 x 480 @ 30 fps
 Night Vision (up to 8 meters)
Controller
 Wide Range Pan and Tilt
Servo  Two Way Audio
Two-Way
Switches  Built-in Microphone
Software  Built-in
Built in Speaker
 Fast Ethernet: Wired or Wireless
Power

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Earth-Rover 2011
IP Camera

Chassis
Camera

GPS
Controller

Servo

Switches
Software

Power

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Earth-Rover 2011
IP Camera

Chassis
Camera

GPS
Controller

Servo

Switches
Software
• Support Documents:
Power •User’s Manual
•Quick Installation Guide

Visit www.Earth-Rover.com to download

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Earth-Rover 2011
GPS Navigation Receiver and Antenna
 A Complete GPS System
Chassis
 Embedded Antenna
Camera  Embedded Receiving System
GPS  Built-in serial interface
Controller
 Can track a maximum of 32 or 66
Servo satellites
t llit simultaneously
i lt l
Switches  5 to 10 updates per second
Software  Fast time to first fix
 Low power consumption
Power
Teams will receive either a 32 or 66 channel GPS System
System. Please be certain
to match your device’s model to the proper technical documentation.

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Earth-Rover 2011
GPS Navigation Receiver and Antenna
 32-Channel GPS Features
Chassis  5Hz max update rate
 Default 38400bps
Camera  Selectable update rate from 1 to 5Hz
 Selectable baud rate from 4800 to 115200bps
 Support for DGPS, WAAS, EGNOS, MSAS
GPS  32 parallel
ll l channel
h l receiver
i architecture
hit t
 -158dBm sensitivity
Controller  3.3m accuracy
 2.6m accuracy with DGPS
Servo  3 3 to 5V supply
3.3
 59/42/33mA power consumption
Switches  2 NMEA serial ports • Support Documents:
 Battery backup pin
•Datasheet
Software  Dimensions •User Manual
•MTK Packet User Manual
 30x30x8.5mm (1.2x1.2x0.3") •Mini GPS Software
Power  15grams •GPSTrace Software
 100mm cable included •GPS Tutorial
Visit www.Earth-Rover.com to download

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Earth-Rover 2011
GPS Navigation Receiver and Antenna
 66-Channel GPS Features:
Chassis  MediaTek MT3318 solution
 5Hz output
Camera  57600bps TTL serial interface
 3.3V @ 41mA
 66 Channel GPS
GPS  Fast TTFF at low signal level
 Up to 10Hz update rate
Controller  Capable of SBAS (WAAS, EGNOS, MSAS)
 Built-in micro battery to preserve system data for rapid satellite
Servo acquisition
q
 LED indicator for fix or no fix

Switches
• Support Documents:
Software •Datasheet
•PMTK Protocol Reference
Power •Mini GPS Configuration Software
•Example Configuration
•Connection Tutorial
Visit www.Earth-Rover.com to download

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Earth-Rover 2011
Wifi Robot Controller
 Features
Chassis  Support for up to 8 Servos
 External power terminal, header pins, and jack
Camera connections
 Wireless operation over 802.11b/g WiFi
GPS  Wired operation over wired LAN
 50Hz servo refresh rate
Controller
 Independent servo control
Servo  Adjustable
j p
pulse width
 Sample software and source code available
Switches  Built in web server
 Control via a web page or virtual COM port on a PC
Software  Sample source code available
 Secondary COM port for alternate device control such
Power as a camera, GPS, or sonar module

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Earth-Rover 2011
Wifi Robot Controller
 Compatibility
Chassis  WiFi 802.11b
802 11b and g wireless networks
 Works with both non encrypted
Camera networks and encryption via WEP and
WPA
GPS  Wired LAN over CAT5 cabling g
 Sample s oftware for Windows only
Controller  Telnet software required for
configuration (included with most PC's)
 ServoCommander v1.5 and above
Servo
 Weight: 96grams

Switches
 Package Details • Support Documents:
 1x WiFi Robot Controller
Software •Sample Applications
 1x 5V AC Adapter (110 VAC, 60 Hz) •Sample Source Code
 1x 7' CAT5 LAN cable •Lantronix CPR Software
Power  1x 2.4GHz antenna •Schematic
•Controller Instructions
Visit www.Earth-Rover.com to download

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Servo Actuator

Chassis  Product Specifications


 Motor Type: 3 Pole
Camera
 Bearing Type: Dual Ball Bearing
GPS  Speed: 0.24 / 0.20 sec @ 60 deg.
 Torque: 106.93 / 133.31 oz.in
Controller (4.8v/6v)
 Size: 1.59" x 0.77" x 1.48"
Servo
 Weight: 1.94oz
Switches
Software  Package Details
 1 Servo Actuators will be provided
Power • Support Documents:
•PPM Protocol Specifications

Visit www.Earth-Rover.com to download

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Earth-Rover 2011
Remote Relay
 Product Specs
Chassis  Max relayy voltage:
g 240VAC
 Max relay current: 10A @
Camera
28VDC, 12A @ 120VAC, 10A @
GPS 240VAC.
 Relay resistance: 100 mO max
Controller  3.5V to 5.5V operating voltage
(on servo pigtail)
Servo
 30mA typical draw from receiver
Switches  Dimensions: 1.25" x 1.25" x 0.9"
 32mm x 32mm x 23mm
Software  12 inch servo pigtail
• Support Documents:
Power
•PPM Protocol Specifications  Package
g Details
Visit www.Earth-Rover.com to download  2 Remote Relays will be provided

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Command Center Software
 Students to Develop
Chassis Software
Camera  Key Features
 Robot Controller
GPS
M
Management t
Controller  Sensor Analysis
Servo  Actuator Control
 Video Monitoring and
Switches Camera Control
Software  Audio Monitoring and
Control
Power  System Management
Functions
 Location Mapping

Towards Remote Exploration Robots


Crearea robotilor pentru explorare comandati la distanta
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Earth-Rover 2011
Power System

Chassis  Considerations
Camera
 Multiple Sub-system Power
GPS Requirements
Controller  Multiple Different Devices
Servo  Batteryy Capacity
p y
 Battery Technology
Switches
 Energy Consumption Rate
Software  Ability to Operate in Environment
Power  Weight vs. Ability to Complete Goals

Towards Remote Exploration Robots


Crearea robotilor pentru explorare comandati la distanta
www.Earth-Rover.com 33
Earth-Rover 2011
Earth-Rover
Earth Rover Communications

 Earth-Rover Discussion Group (Primary Communications)


 Face Book – “Earth-Rover International Robotics Competition”
 http://www.facebook.com/home.php?sk=group_163563930365284

 Earth-Rover
Earth Rover Coordinator E
E-mails:
mails: (Secondary)
 Moldova: Victor.Ababii@Earth-Rover.com or Marin.Podubnii@Earth-Rover.com
 Romania: Dan.Milici@Earth-Rover.com
 Ukraine
Uk i and dUUnited
it d St
States:
t D id A d
David.Anderson@Earth-Rover.com
@E th R

www.Earth-Rover.com

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Earth-Rover 2011
Questions - Intrebare

Technical University University World Genesis Anderson


Of Moldova of Suceava Foundation Multinational LLC
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