built by Jim Fong

Target Environment Locomotion Method
Indoors 2 Wheels
Sensors / Input Devices Actuators / Output Devices
Vector VX2 compass
IR line following sensors
CDS light sensors
wheel speed sensors
Sharp IR detector
I/O Menu buttons
Power monitor
Modified R/C servos
IR transmitters for sensors
IR data transmitter
16x2 line LCD data display
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Motorola HC11 None
Programming Lanuage Weight
N/A 1 lbs
Time to build Cost to build
URL for more information
Betty is the first prototype of our mobile robot. It has a variety of sensors and utilizes our Finger Board 68HC11 embedded processor board for control. The robot is fairly small, it stands 4.25" high by 4" in width. The construction is based on three 4" diameter boards that are stacked on top of each other. The first layer holds the modified R/C servo drive units and nicad batteries. The internal servo electronics were removed and the motors are driven by a L293 H-switch chip. Future prototypes may use small gear-head motors for greater speed. Most of the electronics are contained on the middle printed circuit board. The processor board is located in the center with the various external sensors surrounding it. The top layer holds the LCD display and Vector compass unit. The sonar driver circuitry is also located on the top layer, yet to be implemented.

Our next prototype will try to integrate more of the electronic circuitry on a single board and may have possible enhancements such as wireless data transmitter, wireless video transmitter, sonar, PIR detector and smart charging battery system.

Other Hi-resolution images of Betty and technical details can be found on our web site.

Technical Specifications

Finger Board - 68HC11 based controller
Vector VX2 compass for direction
left and right IR line following sensors
left and right CDS light sensors
left and right microphones
left and right wheel speed sensors
left and right IR transmitters for collision avoidance
Sharp IR detector
IR data transmitter
16x2 line LCD data display
Speaker for sound output
Power monitor for low voltage battery warning
Extra I/O Menu buttons
6 cell nicad battery for power
Modified servos for locomotion
L293 H-switch motor driver
Height: 4.25"
Width: 4"
Embedded Acquisition Systems
1565 Shrader Street
San Francisco, CA 94117

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