Spark I

built by Leonardo F. Urbano

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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
Time to build Cost to build
2 Days $350
URL for more information
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


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