built by Jason L. Verhagen

Target Environment Locomotion Method
Indoors Treads
Sensors / Input Devices Actuators / Output Devices
GP2D05 IR proximity modules
IR LED/Dectector pairs
CdS photo cells
hacked RC servos
Control Method Power Source
Autonomous Battery
CPU Type Operating System
BASIC Stamp None
Programming Lanuage Weight
Time to build Cost to build
50 hours over 2 months $800
URL for more information
MARS (Mobile Autonomous Robotic System) is an experimental robotic platform being designed with expansion, modularity, and flexibility in mind. The initial Phase 1 testing is being done with a small tracked vehicle. Using this test vehicle I am testing various sensors and programming code. Functions: The Phase 1 test vehicle can be controlled via IR remote, preprogrammed with a specific path, or roam unattended when outfitted with proximity detectors. The test vehicle can also sense stairs, light, and heat. Specifications: - Powered by 2 9.6V 1000mAh battery packs. - Primary controller is a Handyboard with HB Expansion board. - Two hacked 100 oz-in RC servos providing torque to tracks. - One Basic Stamp II controlling 8 proximity modules. - Four IR prox modules for contact detection (2 front, 2 rear) - Four IR prox modules for stairs detection (1 at each corner). - Three CdS cells to detect light (left, right, and up) - Two thermistor temp sensors (1 external, 1 internal) - One cooling fan (controlled by internal thermistor) Parts used: The Electronics and Motors: 1 x MIT Handyboard with Charger Board, LCD, and Expansion Board 1 x Basic Stamp II with Board of Education 4 x GP2D05 IR proximity modules 4 x IR LED/Detector pairs for stairs detectors 3 x Radio Shack CdS photo cells 2 x Radio Shack Thermistors 1 x Mini 12v cooling fan 2 x Dual connector phone jacks (for serial interfaces) 4 x Radio Shack terminal strips The Chassis: 1 x Radio Shack Bedlam (hacked for tracked chassis) 3 x Various Radio Shack project boxes 1 x Old external modem top cover 2 x Small pieces of cable shield tubing various strips of brass stock (servo and battery mounts) many cable ties many machine screws and nuts Problems Encountered: - The motors that came with the Bedlam RC car were too powerful for my needs and I couldn't get them under control with an LMD18200 motor controller I put together. I replaced the motors with servos. - The servos didn't give me the

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