1. Introduction
1.1
Every year thousands die and millions injure themselves from natural disasters such as earthquakes. About 60000 worldwide deaths in a year occur just from earthquakes – 90% of which are in developing countries. OECD (2008) Costs of Inaction of Environmental Policy Challenges Report ENV/EPOC(2007)17/REV2
In 2008, one such disaster in Sichuan, China killed over 70000 people, while over 2700 people were killed in an 6.8 earthquake in 2003 in Algeria.
Escaleras, M. N. Anbarci and C. Register (2007) Public Sector Corruption and Major Earthquakes: A Potentially Deadly Interaction Public Choice, 132 209-230.
Most of these death tolls could have been severely reduced had the response teams been able to locate the victims and reach them quickly. The University of Queensland, Australia has proposed an autonomous robotic search vehicle which can locate survivors and mark their locations so that response teams can reach the victims quickly. The robots will work by locating Mobile Phone Transmission Fields (MPTF) and its origin. It will then send a signal to its human counterparts who will hopefully be able to save the victim. (reference document 2 and 3??)
This report details upon the sensors required for the robot to operate, along with they would interact with each other and their functions. It will also determine the most feasible sensor to locate magnetic targets, along with the most suitable one for Arduino.
1.2 Aim
To design a prototype for an autonomous robotic vehicle that locates magnetic fields, this investigation:
1. the sensors required for the robot to operate, along with they would interact with each other and their functions
2. determine the most feasible sensor to locate magnetic targets, along with the most suitable one for Arduino.
3. recommend a sensor for the team to adopt for the robot
1.3 Contents
The following pages, particularly section 2 will detail out the problems, goals, and other associated information. Section 3 will outline the project scope – what is addressed and not addressed. Section 4 evaluates the required information for the design of the prototype as well as technical information and any existing solutions. Section 5 provides a feasibility calculation for the prototype to work. Section 6 concludes the report and provides a recommendation for the sensors for the robot.
2. Problem definition
2.1 Design Problem
Thousands die after natural disasters such as earthquakes. Much of the severity of toll can be reduced if the first response team would be able to reach the survivors as soon as possible.
2.2 Goals
For the prototype to be successful, we require the following goals:
• robust and reliable – the robot should be strong and powerful enough to overcome small obstacles such as uneven surfaces and bumps on the path;
• affordable – the robot should be affordable so that countries, especially the developing ones are able to buy them
• transportable – the robotic vehicle should be portable enough to be able to easily transport from one location to another
look up mars rover and try to incorporate any traits from there
2.3 Needs
The robot will be subject to different scenarios in every country. Hence, it’s crucial that the robot is assembled such that the robot is a success in each scenario.
Table 1:
Type Problem Aftereffect
Technical Different regions have different terrains
The vehicle might not be to move across the terrain and hence locate the victim thus delaying first aid response resulting in death
Made of heavy complex materials Not portable to transport from one region to another
Economical Too expensive Countries, especially third-world and developing countries might find it too expensive and unable to afford the robot
Social Safety Needs to be proved that the robot won’t be a hazard and accidentally kill the victims
Proof of Concept Since taxpayer’s money is usually been spent for purchasing the robot, there can be a lot of opposition to the robot as they might think it’s a waste of money. Hence a successful prototype is necessary to demonstrate proof of concept and that it’s indeed a very viable option
2.4 Functions
To overcome these issues, the following functions need to be put in place:
• the vehicle needs to have rugged tracks/wheels so that it can overcome any terrains and travel across it
• the vehicle needs to be light enough (and modular) so that it is easily transportable from one location to another
• the vehicle also needs to manufactured such that it’s price is affordable to everyone
• the sensors need to be well calibrated so that the robots knows to avoid the obstacle and doesn’t accidentally harm a person
3. Project Scope
For the autonomous robot to be successful, the objective parameters need to be properly defined. The project is not responsible for parameters outside this scope.
In Scope Out of Scope
Developing the software to make the robot autonomous Only using components manufactured in-shore
Making it affordable Life of the product
Material selection of components
Setting up and calibrating the sensors
Manufacturing the actual prototype
Wiring the robot
Ensuring the robot can navigate on any terrain
4. Literature Search – classify each type of sensors by section, all ir sensors in one section
Not sure if these are Arduino sensors
LIDAR-Lite v3 – price $129.99
This easy-to-use 40-meter laser-based optical ranging sensor has all the core features that made the LIDAR-Lite v2 so popular. Small in form and light in weight with low power consumption of less than 130mA during an acquisition. And it’s user-configurable so you can adjust between accuracy, operating range and measurement time.
Each LIDAR-Lite v3 features an edge-emitting, 905nm (1.3 watts), single-stripe laser transmitter, 4 m Radian x 2 m Radian beam divergence, and an optical aperture of 12.5mm. The third version of the LIDAR-Lite still operates at 5V DC with a current consumption rate of <100mA at continuous operation. On top of everything else, the LIDAR-Lite is user-configurable, allowing adjustment between accuracy, operating range and measurement time. It can be interfaced via I2C or PWM with the included 200mm accessory cable.
SparkFun Distance Sensor Breakout – 4 Meter, VL53L1X (Qwiic)
19.95$
This SparkFun Distance Sensor Breakout utilizes the VL53L1X next generation ToF (Time of Flight) sensor module to give you the highly accurate measurements at long ranges for its size. The VL53L1X uses a VCSEL (Vertical Cavity Surface Emitting Laser) to emit an Infrared laser to time the reflection to the target. That means that you will be able to measure the distance to an object from 40mm to 4m away with millimeter resolution! To make it even easier to get your readings, all communication is enacted exclusively via I2C, utilizing our handy Qwiic system so no soldering is required to connect it to the rest of your system. However, we still have broken out 0.1”-spaced pins in case you prefer to use a breadboard.
Each VL53L1X sensor features a precision to be 1mm with an accuracy around +/-5mm and a minimum read distance of this sensor is 4cm. The field of view for this little breakout is fairly narrow at 15°-27° with a read rate of up to 50Hz. Make sure to power this board appropriately since it will need 2.6V-3.5V to operate. Lastly, please be sure to remove the protective sticker on the VL53L1X before use otherwise it will, most assuredly, throw off your readings.
The SparkFun Qwiic connect system is an ecosystem of I2C sensors, actuators, shields and cables that make prototyping faster and less prone to error. All Qwiic-enabled boards use a common 1mm pitch, 4-pin JST connector. This reduces the amount of required PCB space, and polarized connections mean you can’t hook it up wrong.
Infrared Proximity Sensor Long Range – Sharp GP2Y0A02YK0F
$14.95
Infrared proximity sensor made by Sharp. Part # GP2Y0A02YK0F has an analog output that varies from 2.8V at 15cm to 0.4V at 150cm with a supply voltage between 4.5 and 5.5VDC. The sensor has a Japanese Solderless Terminal (JST) Connector. We recommend purchasing the related pigtail below or soldering wires directly to the back of the module.
This sensor is great for sensing objects up to 5 feet away!
Ultrasonic Range Finder – HRLV-MaxSonar-EZ0
In stock SEN-11307 ROHS JOHNNY-FIVE
$34.95
Volume sales pricing
Pretty sure these are arudino sensors
GROVE – INFRARED EMITTER
Code: C000158
$4.50
he Infrared Emitter is used to transmit infrared signals through an infrared LED, while there is an Infrared receiver to get the signals on the other side.
• OVERVIEW
• An infrared LED is like any other LED, with its color centered around 940nm. We can not only use the emitter to transmit data or commands, but also to emulate remotes to control your home appliance using an Arduino. The Infrared Emitter can transmit signals reliable up to 10 meters. Beyond 10 meters, the receiver may not get the signals.
Gravity: Digital Line Tracking Sensor
Item #: DF-SEN0017
Availability: In Stock
DFRobot
$5.90
https://www.trossenrobotics.com/digital-line-tracking-sensor.aspx
Line tracking is the most basic function of a smart mobile robot. It is one of the easiest ways for a robot to successfully and accurately navigate. The Digital Line Tracking Sensor will guide your robot by telling white from black quickly and accurately, via TTL signal. With a drawn path and good programming, you can ensure results that are far more consistent than if the robot was simply told where to go without any reference.
You can combine several line following sensors with other ranged sensors, making mobile robots complete. With a sensor aiming the floor, not only you can detect lines, but often, floor with a matte finish and dark color can be used to distinguish different areas. For example, a kitchen with a dark floor and a living room with a light or white floor, given this information to your robot you can keep it enclosed to a specific area or even let the robot know the area to change it’s behavior.
Features:
• Wide voltage range from 3.3V to 5V
• Standard assembling structure (Times-of-5mm Center distance between two 3mm mounting holes)
• Easily recognize interfaces of sensors (“A” for analog and “D” for digital)
• Icons to simply illustrate sensor function
• High quality connector
• Immersion gold surface
• Supply Voltage: 3.3V to 5V
• Interface: Digital
• Operating current: 20mA @ 5V
• Operating temperature range: 0°C ~ + 50°C
• Output: TTL(Black for LOW output, White for HIGH output)
• Size: 28x10mm (1.1x 0.4 in)
Grove – Line Finder $4.95
The Grove Line Finder is designed for line following robots. It consists two parts – an IR emitting LED and an IR sensitive phototransistor. It outputs a digital signal to a microcontroller so the robot can reliably follow a black line on a white background, or vice versa. This Line finder even has an indicator LED and adjustable range.
Product Features
• Grove compatible interface
• Compact Size
• 5V DC power supply
• Indicator LED
• Digital output
• Adjustable Range
Assumptions: white background or black background
https://www.trossenrobotics.com/c/grove-line-finder.aspx
Ultra Sonic Range Measurement Module
$15.00
This is a non-contact distance measurement module designed for easy use.
Features
• Detecting range: 3cm-4m
• Best in 30 degree angle
• Electronic brick compatible interface
• 5VDC power supply
• Breadboard friendly
• Dual transducer
• Arduino library ready
•
https://www.trossenrobotics.com/p/ultra-sonic-range-measurement-module.aspx
ARDUINO INFRARED EMISSION SENSOR MODULE KY-005
• AUD $7.67
•
Sharp GP2Y0A41SK0F IR Range Sensor – 4 to 30cm (works with Arduino) USD $9.55
Measuring distance range Min 4 to Max 30 cm
• Designed to use in variety of Applications areas (Computer, OA 4equipment, Telecommunication Equipment (Terminal), Measuring equipment, Tooling machines, Home appliance etc.)
• Operating supply voltage 4.5 to 5.5 V
• Operating temperature -10 to +60 C
Linker Hall Effect Sensor for pcDuino/Arduino – detects the presence of magnetic field
• Hall module of Linker kit for pcDuino/Arduino
• Sensor to detect the presence of magnetic field
• The Linker Hall Effect Sensor for pcDuino/Arduino hosts a magnetic hall sensor that detects the presence of magnetic field.
• https://www.robotshop.com/en/linker-hall-effect-sensor-pcduino-arduino.html
Ultrasonic Sensor – HC-SR04(this is what I have) – cheap copy of the next sensor ping)))
$3.95
https://www.sparkfun.com/products/13959
This is the HC-SR04 ultrasonic ranging sensor. This economical sensor provides 2cm to 400cm of non-contact measurement functionality with a ranging accuracy that can reach up to 3mm. Each HC-SR04 module includes an ultrasonic transmitter, a receiver and a control circuit.
There are only four pins that you need to worry about on the HC-SR04: VCC (Power), Trig (Trigger), Echo (Receive), and GND (Ground). You will find this sensor very easy to set up and use for your next range-finding project!
INNOVATION: Pro tip: you can tie the trigger and receive pins together and save yourself a pin. They’re never active at the same time. The receiver is locked out for a very brief period after the pulse is sent (if I had to guess, I’d say about how long sound takes to travel 2cm and back.) Search for SRF-04 if you’re trying to find a good datasheet.
A capacitor across VCC-GND did wonders stabilizing readings (1uF – 3.3uF). Not sure how much range you will get without the MAX232 (that was used as a voltage stepper which “rang” the ultrasonic speaker at +12/-12). The PING is significantly more robust, but it is more expensive no doubt.
PING))) Ultrasonic Distance Sensor
Our PING)))™ ultrasonic sensor provides an easy method of distance measurement. This sensor is perfect for any number of applications that require you to perform measurements between moving or stationary objects.
Interfacing to a microcontroller is a snap. A single I/O pin is used to trigger an ultrasonic burst (well above human hearing) and then “listen” for the echo return pulse. The sensor measures the time required for the echo return, and returns this value to the microcontroller as a variable-width pulse via the same I/O pin.
Key Features:
• Provides precise, non-contact distance measurements within a 3 cm to 3 m range
• Ultrasonic measurements work in any lighting condition, making this a good choice to supplement infrared object detectors
• Simple pulse in/pulse out communication requires just one I/O pin
• Burst indicator LED shows measurement in progress
• 3-pin header makes it easy to connect to a development board, directly or with an extension cable, no soldering required
Application Ideas:
• Security systems
• Interactive animated exhibits
• Parking assistant systems
• Robotic navigation
• Features
• Narrow acceptance angle
• Range: approximately 1 inch to 10 feet (3 cm to 3 m)
• 3-pin male header with 0.1″ spacing
• Power requirements: +5 VDC; 35 mA active
• Communication: positive TTL pulse
• Dimensions: 0.81 x 1.8 x 0.6 in (22 x 46 x 16 mm)
• Operating temperature range: +32 to +158 °F (0 to +70 °C)
https://www.parallax.com/product/28015
5. Feasibility Calculation – add up all the cost of the sensors and see if it fits within the budget
6. Conclusion