built by Gary Sedun

Target Environment Locomotion Method
8" Ducts Treads
Sensors / Input Devices Actuators / Output Devices
hard beta radiation sensor
gamma radiation sensor
front/back video cameras
tip and tilt sensors
sampler arm for specimens
drive motors
Control Method Power Source
Tethered via tether
CPU Type Operating System
PIC Microcontroller None
Programming Lanuage Weight
Assembly N/A
Time to build Cost to build
19 weeks N/A
URL for more information
ASA, in association with Inuktun Services, designed, fabricated and delivered this robot IN ONLY 19 WEEKS. The client was Idaho National Engineering Laboratories. The system includes a tethered articulated duct/pipe robot and surface control system. The robot incorporates three short segments which enables travel around 90 degree bends in circular ducts. The control station gives the operator high resolution images from the robot's cameras and provides two joysticks for control of the robot's 4 tracks. Overlaid on the camera images are displays from the various system sensors.

The electronics package contains 8 networked microprocessors communicating over the I=B2C bus. These are configured as one master processor and seven slave processors. The microprocessor selected for this purpose was the PIC16c73. The rear segment contains the master processor, which exchanges RS485 commands from, and status information to, the supervisor over the tether. The master then communicates this information to/from the appropriate slaves. A slave microprocessor located in each of the four tracks provides PWM control of the track's motor and provides temperature feedback. The center segment of the robot's body contains two more slave processors. One is responsible for changing the angle of the tracks and reading various feedback devices such as the roll and pitch sensors. The other integrates the rate gyro signal providing direction of travel information and counts pulses from the radiation sensor. The final slave processor is located in the front 'camera' can and is responsible for the panning and tilting of the camera head, the motion of the manipulator arm, the camera's iris control and pan/tilt feedback information.

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