cornell's autonomous peanutbot.htm

Sensing in autonomous vehicles is a growing field due to a wide array of military and reconnaissance

attempting to advance understanding of audio processing and triangulation of a 
sound source. The team seeks, accepts, and offers honest criticism of technical 
work, to acknowledge and correct errors, and to credit properly the 
contributions of others. The use of code designed by others is documented above. 
During the execution of the project, the team has treated fairly all persons. 
The safety considerations described above fueled the team's commitment to 
avoiding injuring others, their property, reputation, or employment by false or 
malicious action. Finally, the team has assisted colleagues and co-workers in 
their professional development and to support them in following this code of 
ethics. As stated above, we have followed all legal considerations such as the 
FCC regulations. </P></DIV>
<DIV id=appendices>
<H2>Appendices</H2>
<H4>Source Code</H4>
<UL>
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/final.c">Commented 
  MCU Code</A> 
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/final.h">Commented 
  MCU Header File</A> 
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/angle_array.h">Angle 
  Array Header File</A> 
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/Generate_angle_array.m">MATLAB 
  Angle Array Generation Code</A> 
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/gen_audio.m">MATLAB 
  Audio Generation Code</A> </LI></UL>
<H4>Schematics</H4>
<UL>
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/index.html#figure5">Analog 
  Microphone Circuit Schematic</A> </LI></UL>
<H4>Parts Appraisal</H4>
<TABLE cellSpacing=0 cellPadding=5 border=1>
  <THEAD>
  <TR>
    <TH>Parts</TH>
    <TH>Cost</TH></TR></THEAD>
  <TBODY>
  <TR class=row1>
    <TD>Acronome PPRK Robot Vehicle</TD>
    <TD>$325</TD></TR>
  <TR class=row2>
    <TD>Batteries (9V and 4 AA)</TD>
    <TD>$10</TD></TR>
  <TR class=row1>
    <TD>Audio Source (Speaker)</TD>
    <TD>$0</TD>
  <TR class=row2>
    <TD>Atmel Mega32 Microcontroller</TD>
    <TD>$8</TD>
  <TR class=row1>
    <TD>Custom Solder Board</TD>
    <TD>$1</TD>
  <TR class=row2>
    <TD>White Breadboard</TD>
    <TD>$4</TD>
  <TR class=row1>
    <TD>Max233 CPP</TD>
    <TD>Sampled</TD>
  <TR class=row2>
    <TD>RS232 Connector</TD>
    <TD>$8</TD>
  <TR class=row1>
    <TD>Analog Circuit Components</TD>
    <TD>$0</TD>
  <TR class=row2>
    <TD>Green Tubing</TD>
    <TD>$5</TD>
  <TR class=row1>
    <TD>Total</TD>
    <TD>$361</TD></TR></TBODY></TABLE>
<P></P>
<H4>Work Distribution</H4>
<P>Seth:</P>
<UL>
  <LI>Writing the Audio Generation script 
  <LI>Writing test files for the servos and communication 
  <LI>Writing most of the software 
  <LI>Soldering the boards 
  <LI>Physical building of the robot including attaching the wheels and kit 
  assembly 
  <LI>Testing the analog circuitry 
  <LI>Working with ACSP to ensure correct application of assignment 
  <LI>Shopping for parts 
  <LI>Working on the project report </LI></UL>
<P>Hemanshu:</P>
<UL>
  <LI>Some software 
  <LI>Soldering the boards 
  <LI>Physical building of the robot including attaching the wheels 
  <LI>Designing the analog circuitry 
  <LI>Testing the analog circuitry 
  <LI>Shopping for parts 
  <LI>Working on the project report </LI></UL>
<P>Angela:</P>
<UL>
  <LI>Writing a test file for the port input 
  <LI>Writing the Angle Array Generation file 
  <LI>Soldering the boards 
  <LI>Some software 
  <LI>Physical building of the robot including attaching the wheels and kit 
  assembly 
  <LI>Designing the analog circuitry 
  <LI>Testing the analog circuitry 
  <LI>Working on the project report </LI></UL></DIV>
<DIV id=ref>
<H2>References</H2>
<H4>Data Sheets:</H4>
<UL>
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/em10_wm55(6)a103_dne.pdf">Panasonic 
  Microphone Specifications</A> 
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/P1804.pdf">Panasonic 
  Microphone Part Information</A> 
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/51185K223_NYLON_TUBING.pdf">Nylon 
  Tubing</A> 
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/full32.pdf">Mega32 
  microcontroller</A> </LI></UL>
<H4>Vendor Sites:</H4>
<UL>
  <LI><A href="http://www.digikey.com/">Digikey</A> 
  <LI><A href="http://www.acroname.com/">Acroname (vehicle vendor)</A> 
  <LI><A href="http://www.mcmaster.com/">McMaster-Carr</A> </LI></UL>
<H4>Borrowed Code:</H4>
<UL>
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/searchbot.c">SearchBot 
  Microcontroller Code</A> 
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2007/ai45_hkc2_sbs43/ai45_hkc2_sbs43/searchbot.h">SearchBot 
  Microcontroller Header File</A> </LI></UL></DIV></DIV>
<HR>
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<H2>More Information</H2>
<P>Consult the <A 
href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2006/jzs3_da65/jzs3_da65/">SearchBot</A> 
and <A href="http://acsp.ece.cornell.edu/">ACSP</A> websites </P></DIV>
<DIV class=secondary-section>
<H2>Related Resources</H2>
<UL>
  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2006/jzs3_da65/jzs3_da65/">Searchbot</A> 

  <LI><A 
  href="http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/">Past ECE 
  476 Final Projects</A> 
  <LI><A href="http://instruct1.cit.cornell.edu/courses/ee476/">ECE 476</A> 
  <LI><A href="http://acsp.ece.cornell.edu/">ACSP</A> 
  <LI><A href="http://www.ece.cornell.edu/">CU Electrical Engineering</A> 
</LI></UL></DIV><!--



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<DIV class=secondary-photo><IMG alt="Professor Land Teaching" 
src="Cornell's Autonomous PeanutBot.files/bruce_land.jpg"> 
<P class=caption>Professor Land teaching microcontroller fundamentals. 
</P></DIV><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR>
<DIV class=secondary-photo><IMG alt="The Project Team on Holi" 
src="Cornell's Autonomous PeanutBot.files/holi_small.jpg"> 
<P class=caption>The Project Team on Holi. 
</P></DIV><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR>
<DIV class=secondary-photo><IMG 
alt="The Project Team on a Billboard in Times Square" 
src="Cornell's Autonomous PeanutBot.files/times.jpg"> 
<P class=caption>The Project Team on a Billboard in Times Square. 
</P></DIV><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR>
<DIV class=secondary-photo><IMG alt="The Project Team in Phillips" 
src="Cornell's Autonomous PeanutBot.files/philips.jpg"> 
<P class=caption>The Project Team in Phillips. 
</P></DIV><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR>
<DIV class=secondary-photo><IMG alt=Photo2 
src="Cornell's Autonomous PeanutBot.files/robot_small.jpg"> 
<P class=caption>PeanutBot in action. 
</P></DIV><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR><BR>
<DIV class=secondary-photo><IMG alt=Photo3 
src="Cornell's Autonomous PeanutBot.files/dinner.jpg"> 
<P class=caption>The Project Team at Dinner. </P></DIV></DIV></DIV>
<DIV id=photos>
<P></P></DIV></DIV>
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