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Spark I
built by Leonardo F. Urbano
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Click on an image to enlarge it) ) ) ) ) ) )
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| Target Environment | Locomotion Method |
| Indoors | 3 Wheels |
| Sensors / Input Devices | Actuators / Output Devices |
| 3 IR range finders 3 Photo sensors |
2 servo motors 2 2x20 LCD displays 6 sensor activation lights |
| Control Method | Power Source |
| Autonomous | Battery |
| CPU Type | Operating System |
| BASIC Stamp | None |
| Programming Lanuage | Weight |
| BASIC | N/A |
| Time to build | Cost to build |
| 2 Days | $350 |
| URL for more information | |
| http://www.lurbano.com/spark1.php | |
| Comments | |
| Spark I is the robot developed to illustrate the control
theory behind my behavior-based AUV project. The AUVs control system will function similarly to past robots, employing a cascading array of behaviors from high to low priority. The AUV, carrying out it's tasks in water, must operate under complex dynamic environments. Our design team is divided in half - one half working to develop the AUVs body, the other half working to to develop the AUVs brain. Spark I is a proof-of-concept brain for the AUV. Once the body is complete, all the electronics can be transplanted. Size - 7" round diameter body x 6" tall Body - round wooden body Electronics - 1 BASIC Stamp II microcontroller unit, 1 BASIC Stamp stretcher board (no longer made), 2 servo motors with wheel attached, 1 2-channel L329D H-bridge motor driver circuit, 3 Infrared rangefinders, 3 photo-voltaic cadmium sulfide photo sensors, 2 2x20 character LCD, 1 9V batteries, 6 AA batteries for drive motors, and 6 sensor activation indicator lights. Control System - Taskable SOAR controller Email: lfu@drexel.edu |
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