Remote Controlled Multipurpose Robotic Vehicle (1)

REMOTE CONTROLLED MULTIPURPOSE ROBOTIC VEHICLE

ACKNOWLEDGEMENTWe take this opportunity to express our deepest gratitude to various people who have helped us during the project. We also express our deep gratitude to Dr. Fathima Jabeen. We also express our deep gratitude to Dr. Fathima Jabeen Principle of Islamiah Institute Of Technology, who permitted to carry out this project work in college. We would like to thank Prof. B.C Lokesh, HOD of Mechanical Department for valuable assistance, motivation, encouragement towards completion of project. We would like to thank Mr. Muzzammil Ulla Shariff, lecturer of Mechanical Department who helped us feel the flavor of our work by timely suggestions and valuable assistance during the project. We feel proud in acknowledging all staff members of Mechanical Department who helped us by giving timely suggestions and provided valuable assistance during the project. Last, but not the least, we heartedly thank all our FRIENDS who have encouraged us for completion of project

THANKING YOU:Yours sincerely: Mohammed Sajin NM Nayeemuddin A Hifzur Rahman Syed Nizamuddin Razvi (1II07ME013) (1II07ME014) (1II07ME005) (1II07ME025)

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ABSTRACTSince the creation of the first robot ( in 1961 ) technology is becoming more robust, more capable; the next generation of robots will be able to autonomously traverse rough terrain. The aim of this project is to study a robot that is able to navigate rough terrains.What is the best design for a moving robot? This problem is not easy; William Whittaker, a Dante II principal investigator, suggests: One of the reasons we havent solved the best means of mobility is that there may be not one. Look at the diversity of the nature, from snake locomotion and insects to the bi-pedal type of motion humans use to get around. Those are not minor variations. Its a very diverse world out there. My sense is that there is probably a robotic counterpart for every physical entity in the biological kingdom. For this reason, before starting the robot design phase, it is important to define the kingdom in which the robot has to move. The project rover environment is Mars surface. Wednesday December 4, 1996, NASA launched Pathfinder. Pathfinder is the first mission to Mars in which rovers are used; an ambitious USA project foresees a series of planetary, low cost vehicles to be launched on Mars by 2005. The great concern and commitment of the technologically evolved nations on this subject underlines the importance of the problem tackled in this project.

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Index Sheet1. Introduction 2. Literature survey2.1 Introduction to robotics 2.2 Base 2.3 Process 2.4 Battery 2.5 RF Transmitter 2.6 RF Receiver 2.7 Controller 2.8 Relay 2.9Alluminium Composite Panel Sheets 2.10 Coil Springs 2.11 DC Motors 2.12 Kinematics 2.13Wheels 2.14 LED 2.15 Camera 04 06 07 08 09 11 14 16 19 20 23 24 25 26 32 33 36 39 41 44 533DEPT OF. MECH

3. Construction 4. Working 5. Design & Fabrication 6. ApplicationsI.I.T


7. Pictures 8. Conclusion 9. Cost Analysis 10. References & Bibliography

60 62 63 64

INTRODUCTION

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1. INTRODUCTIONRobots that can competently, effeciently and autonomously operate in extreme terrain do not yet exist. A few rovers have already been in Mars: on 27 American and Russian missions only 9 have been successful. Space exploration poses special problems for robotics; in general it is possible to outline that: planetary rovers need walking mechanisms suited to traversing extreme terrain : steep slopes, steps and ditches with materials ranging from hard rock to sand and dust; planetary rovers need different kinds of sensors: sensors for perception and motion control; sensors and experimental equipment to solve on-board interpretation and exploration tasks; very often full size rovers are outfitted with robot arms for handling objects; planetary rovers need on-board power source and actuation facilities; rovers have to drive on rough terrain with high stability and performance to safely carry the instrumentation; mechanical structure and locomotion control have to be robust and safe to fulfill the mission; Now a days there are two different rover locomotion tendencies: robot rovers similar to cars with good suspension that roll (A) or robots with legs that walk (B) .

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LITERATURE SURVEY

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ROBOTICSThe most exciting and interesting field now a days is obliviously robotics. It is most emerging and developing field where everyday a new innovation is out there in the market. So many kinds of robots like robotic arm, humanoids, steady robots, moving robots, car robots etc. Basically robot is an electromechanical device means it is a combination of electronics and mechanics. It is flexible mechanism which can be moved to different positions using different motors (AC, DC, Stepper etc.). Different movements are actuated by controlling signals that are generated by electronic circuit. The circuit generates different signals to control the motion of mechanism depending upon the requirements. The operation can be divided into three categories 1. manual 2. semi automatic 3. fully automatic In manual operation the controlling signals are generated depending upon user command like move up, move down, rotate, pick, place etc. In semi automatic operation some action does not require any user command they operated automatically in fully automatic operation there is not a single user command full operation operates in a pre determined sequence

RobotI.I.T

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A robot is an electro-mechanical device. A robot is a virtual or mechanical artificial agent. In practice, it is usually an electro-mechanical system The International Organization for Standardization gives a definition of robot in ISO 8373: "An automatically controlled, reprogrammable, multipurpose, manipulator programmable in three or more axes, which may be either, fixed in place or mobile for use in industrial automation applications." This definition is used by the International Federation of Robotics, the European Robotics Research Network (EURON), and many national standards committees. The Robotics Institute of America (RIA) uses a broader definition: a robot is a "Re-programmable multi-functional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks".

2.2 BASEThe base is a galvanized iron sheet. The term galvanizing refers to the coating of iron with zinc. This is done to prevent galvanic corrosion (specifically rusting) of the ferrous item. The value of galvanizing stems from the relative corrosion resistance of zinc, which, under most service conditions, is considerably less than those of iron and steel. The effect of this is that the zinc is consumed first as a sacrificial anode, so that it cathodically protects exposed steel. This means that in case of scratches through the zinc coating, the exposed steel will be cathodically protected by the surrounding zinc coating, unlike an item which is painted with no prior galvanizing, where a scratched surface would rust. Furthermore, galvanizing for protection of iron and steel is favored because of its low cost, the ease of application, and the extended maintenance-free service that it provides.

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The term galvanizing, while correctly referring to the application of the zinc coating by the use of a galvanic cell (also known as electroplating), sometimes is also used to refer to hot dip zinc coating (commonly incorrectly referred to as hot dip galvanizing). The practical difference is that hot dip zinc coating produces a much thicker, durable coating, whereas genuine galvanizing (electroplating) produces a very thin coating. Another difference, which makes it possible to determine visually which process has been used if an item is described as 'galvanized', is that electroplating produces a nice, shiny surface, whereas hot dip zinc coating produces a matte, grey surface. The thin coating produced by electroplating is much more quickly consumed, after which corrosion turns to the steel or iron itself. This makes electroplating unsuitable for outdoor applications, except in very dry climates. For example, nails for indoor use are electroplated (shiny), while nails for outdoor use are hot dip zinc coated (matte grey). However, electroplating and subsequent painting is a durable combination because the paint slows down the consumption of the zinc. Car bodies of some premium makes are corrosion protected using this combination. Nonetheless, electroplating is used on its own for many outdoor applications because it is cheaper than hot dip zinc coating and looks good when new. Another reason not to use hot dip zinc coating is that for bolts and nuts size M10 or smaller, the thick hot-dipped coating uses up too much of the threads, which reduces strength (because the dimension of the steel prior to coating must be reduced for the fasteners to fit together). This means that for cars, bicycles and many other 'light' mechanical products, the alternative to electroplating bolts and nuts is not hot dip zinc coating but making the bolts and nuts from stainless steel (known by the corrosion grades A4 and A2).

2.3 PROCESSThe process of hot-dip galvanizing results in a metallurgical bond between zinc and iron with a series of distinct iron-zinc alloys. The resulting coated iron can be used in much the same way as uncoated. Galvanized iron can be welded; however, one must exercise caution around the resulting zinc fumes. Galvanized iron is suitable for high-temperature applications of up to 392F (200C). The use of galvanized iron at temperatures above this will result in peeling of theI.I.T

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zinc at the intermetallic layer. Lead is often added to the molten zinc bath to improve the fluidity of the bath (thus limiting excess zinc on the dipped product by improved drainage properties), helps prevent floating dross, makes dross recycling easier and protects the kettle from uneven heat distribution from the burners. Lead is either added to primary Z1 Grade Zinc or already contained in used secondary zinc. A third, declining method is to use low Z5 Grade Zinc. Iron strip can be hot-dip galvanized in a continuous line. Hot-dip galvanized iron strip (also sometimes loosely referred to as galvanized iron) is extensively used for applications requiring the strength of iron combined with the resistance to corrosion of zinc. Applications include: roofing and walling, safety barriers, handrails, consumer appliances and automotive body parts. One common use is in metal pails. Galvanized iron is also used in most heating and cooling duct systems in buildings Individual metal articles, such as iron girders or wrought iron gates, can be hot-dip galvanized by a process called batch galvanizing. Other modern techniques have largely replaced hot-dip for these sorts of roles. This includes electro-galvanizing, which deposits the layer of zinc from an aqueous electrolyte by electroplating, forming a thinner and much stronger bond.

SPECFICATION:Length: 29cms. Breadth: 25cms. Height: 5cms.

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2.4 BATTERYA VRLA battery (valve-regulated lead-acid battery) is the designation for low-maintenance lead-acid rechargeable batteries. Because of their construction, VRLA batteries do not require regular addition of water to the cells. VRLA batteries are commonly further classified as:

Absorbed glass mat battery Gel battery (gel cell)

These batteries are often colloquially called sealed lead-acid batteries, but they always include a safety pressure relief valve. As opposed to vented (also called flooded) batteries, a VRLA cannot spill its electrolyte if it is inverted. Because VRLA batteries use much less electrolyte (battery acid) than traditional lead-acid batteries, they are also occasionally referred to as an "acidstarved" design, thus they have fewer amp-hours for their volume. The name "valve regulated" does not wholly describe the technology; these are really "recombinant" batteries, which means that the oxygen evolved at the positive plates will largely recombine with the hydrogen ready to evolve on the negative plates, creating water and so preventing water loss. The valve is a safety feature in case the rate of hydrogen evolution becomes dangerously high. In flooded cells, the gases escape before they have a chance to recombine, so water must be periodically added. One result of this design is a much higher ratio of power to "floor space" than large, flooded type battery systems; another is a high-rate power capacity, though of relatively short duration. As a result, VRLA batteries are frequently employed in UPS (uninterruptible power supply) or other high-rate applications.

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Advantages All AGM batteries have enhancements over flooded lead acid batteries:

Purer lead in the plates, as each plate no longer needs to support its own weight, due to the sandwich construction with AGM matting. Traditional cells must support their own weight in the bath of acid.

Fluid retention - un-spill able High specific power or power density, holding roughly 1.5x the AH capacity of flooded batteries due to purer lead Low internal resistance allowing them to be charged and discharged quite rapidly Water conservation - never requires addition of water Acid encapsulation in the matting Operation well below 0F or -18 C. Availability of UL, DOT, CE, Coast Guard, and Mil-Spec approved types Vibration resistance due to the sandwich construction.

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Disadvantages

Cost. AGM automobile batteries for example, are typically about twice the price of flooded-cell batteries in a given BCI size group. AGM batteries have up to a 10 year lifespan, but must be sized to discharge less deeply than the traditional flooded batteries. For an AGM battery, the depth of discharge for optimal performance is 50% but flooded batteries can be rated up to 80% depth of discharge.

AGM batteries do not tolerate overcharging. Overcharging dissociates the water in the electrolyte, which is unable to be replaced, leading to premature failure.

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2.5 RF TRANSMITTERThe TWS-434 and RWS-434 are extremely small, and are excellent for applications requiring short-range RF remote controls. The transmitter module is only 1/3 the size of a standard postage stamp, and can easily be placed inside a small plastic enclosure. TWS-434: The transmitter output is up to 8mW at 433.92MHz with a range of approximately 400 foot (open area) outdoors. Indoors, the range is approximately 200 foot, and will go through most walls.....

TWS-434A The TWS-434 transmitter accepts both linear and digital inputs can operate from 1.5 to 12 VoltsDC, and makes building a miniature hand-held RF transmitter very easy. The TWS-434 is approximately the size of a standard postage stamp.

TWS-434 Pin Diagram

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SpecificationSymbol Vcc Icc Icc Vin Vii Fo FO Po Parameter Operating Conditions supply Min 2.0 Typ Max 12 1.64 19.4 Vcc Unit V mA mA V

voltage Peak Current (2V) Peak Current(12V) Input High Voltage IData=100Ua

-

Vcc-0.5

(High) Input Low Voltage IData=0Ua (Low) Absolute Frequency 433.72 417.8 Relative To 433.92MHz RF Out Power Into VCC 9V-12V 50 VCC 5V-6V Modulation External Encoding 512 Rise Bandwidth Modulation

0.3 V 433.92 434.12 MHz 418 418.2 MHz +/-150 +/-200 KHz 16 14 4.8K 200K 100 bps uS uS dBm

Tr

Time Tf Modulation Fall Time 100 Notes : ( Case Temperature = +25C+/-2C Test Load Impedance = 50 )

Mechanical Dimensions and Pin Description

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The

WZ_T434 or WZ_T418 transmitter output is up to 8mW the range is approximately 200 foot

indoor, The WZ-T4343 transmitter is based on SAW resonator can operate from 2 to 12 Volts-DC The operation voltage at 9V to 12V, the emission is about 16dBm

2.6 RF RECIEVERRWS-434: The receiver also operates at 433.92MHz, and has a sensitivity of 3uV. The RWS434 receiver operates from 4.5 to 5.5 volts-DC, and has both linear and digital outputs.

RWS-434 Receiver

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RWS-434 Pin Diagram

AM 434MHZ or 418MHZ Receiver Module

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SpecificationVcc Operating supply 4.5 5 3.5 Data = +200 uAVcc-0.5 5.5 4.5 Vcc 0.3 V mA V V

voltage ITot Operating V Data Current Data Out

( High )I I Data = -10 uA -

( Low ) Electrical Characteristics SYM Min Characteristics Operation Radio FC 300 - 434 Frequency Sensitivity Channel Width Noise equivalent BW Baseboard data rate Pref +-500 NEB

Typ

Max

Unit MHz dBm KHz KHz Kb/s

-106 4 5 3

Mechanical Dimensions and Pin

Description

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The receiver WZ-R434 and WZ-R418 has a sensitivity of 3uV. Operating voltage is from 4.5 to 5.5 voltsDC, and has both linear and digital outputs. For maximum range, the recommended antenna length to be 1/4 wave of the frequency, That means, for 433.92Mhz, the antenna length is approximately 17cm long . The typical sensitivity is -103dbm and the typical current consumption is 3.5mA for 5V operation voltage.

2.7 CONTROLLERThe controller allows to change the direction of the geared motor both forward and reverse i.e. clockwise and anti-clockwise direction. It is used to guide the robot. It is powered by a 3V battery.

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To turn the robot the wheels need to be turned in opposite directions. If we want to turn the vehicle towards right we need to turn the left side wheels in forward direction while turning the right hand side wheels in backward direction. If we want to turn the vehicle towards left we need to turn the left side wheels in backward direction while turning the right hand side wheels in forward direction.

2.8 RELAYA relay is an electrically operated switch. Many relays use an electromagnet to operate a switching mechanism mechanically, but other operating principles are also used. Relays are used where it is necessary to control a circuit by a low-power signal (with complete electrical isolation between control and controlled circuits), or where several circuits must be controlled by one signal. The first relays were used in long distance telegraph circuits, repeating the signal coming in from one circuit and re-transmitting it to another. Relays were used extensively in telephone exchanges and early computers to perform logical operations. A type of relay that can handle the high power required to directly drive an electric motor is called a contactor. Solid-state relays control power circuits with no moving parts, instead using a semiconductor device to perform switching. Relays with calibrated operating characteristics and sometimes multiple operating coils are used to protect electrical circuits from overload or faults; in modern electric power systems these functions are performed by digital instruments still called "protective relays". Basic design and operation

Simple electromechanical relay

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Small relay. A simple electromagnetic relay consists of a coil of wire surrounding a soft iron core, an iron yoke which provides a low reluctance path for magnetic flux, a movable iron armature, and one or more sets of contacts (there are two in the relay pictured). The armature is hinged to the yoke and mechanically linked to one or more sets of moving contacts. It is held in place by a spring so that when the relay is de-energized there is an air gap in the magnetic circuit. In this condition, one of the two sets of contacts in the relay pictured is closed, and the other set is open. Other relays may have more or fewer sets of contacts depending on their function. The relay in the picture also has a wire connecting the armature to the yoke. This ensures continuity of the circuit between the moving contacts on the armature, and the circuit track on the printed circuit board (PCB) via the yoke, which is soldered to the PCB. When an electric current is passed through the coil it generates a magnetic field that attracts the armature and the consequent movement of the movable contact either makes or breaks (depending upon construction) a connection with a fixed contact. If the set of contacts was closed when the relay was de-energized, then the movement opens the contacts and breaks the connection, and vice versa if the contacts were open. When the current to the coil is switched off, the armature is returned by a force, approximately half as strong as the magnetic force, to its relaxed position. Usually this force is provided by a spring, but gravity is also used commonly in industrial motor starters. Most relays are manufactured to operate quickly. In a low-voltage application this reduces noise; in a high voltage or current application it reduces arcing. When the coil is energized with direct current, a diode is often placed across the coil to dissipate the energy from the collapsing magnetic field at deactivation, which would otherwise generate aI.I.T

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voltage spike dangerous to semiconductor circuit components. Some automotive relays include a diode inside the relay case. Alternatively, a contact protection network consisting of a capacitor and resistor in series (snubber circuit) may absorb the surge. If the coil is designed to be energized with alternating current (AC), a small copper "shading ring" can be crimped to the end of the solenoid, creating a small out-of-phase current which increases the minimum pull on the armature during the AC cycle. A solid-state relay uses a thyristor or other solid-state switching device, activated by the control signal, to switch the controlled load, instead of a solenoid. An optocoupler (a light-emitting diode (LED) coupled with a photo transistor) can be used to isolate control and controlled circuits.

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2.9 ALUMINUM COMPOSITE PANEL SHEETSAluminum Composite Panel (ACP) or Aluminum Composite Material (ACM) is a widelyused term describing flat panels that consist of a non-aluminum core bonded between two aluminum sheets. Aluminum sheets can be coated with PVDF or Polyester paint. ACPs are frequently used for external cladding of buildings (building facades), for insulation and for signage. ACP is very rigid and strong despite its light weight. Aluminum can be painted in any kind of color, and ACPs are produced in a wide range of metallic and non-metallic colors as well as patterns that imitate other materials, such as wood or marble. Applications of ACPs are not limited to external building cladding, but can also be used in any form of cladding such as partitions, false ceilings etc. Aluminum Composite Panels are also widely used within the signage industry as an alternative to heavier, more expensive substrates. The core is commonly low density Polyethylene or an insulating material no less than 10 cm thick when its use is refrigeration insulation.

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2.10 Coil spring

A compression coil spring

A tension coil spring

A Coil spring, also known as a helical spring, is a mechanical device, which is typically used to store energy and subsequently release it, to absorb shock, or to maintain a force between contacting surfaces. They are made of an elastic material formed into the shape of a helix which returns to its natural length when unloaded. Coil springs are a special type of torsion spring: the material of the spring acts in torsion when the spring is compressed or extended. Metal coil springs are made by winding a wire around a shaped former - a cylinder is used to form cylindrical coil springs. Variants The two usual types of coil spring are:

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Tension coil springs, designed to resist stretching. They usually have a hook or eye form at each end for attachment. Compression coil springs, designed to resist being compressed. A typical use for compression coil springs is in carsuspension systems. expansion coil spring.

2.11 DC MOTOR

DC motors consist of rotor-mounted windings (armature) and stationary windings (field poles). In all DC motors, except permanent magnet motors, current must be conducted to the armature windings by passing current through carbon brushes that slide over a set of copper surfaces called a commutator, which is mounted on the rotor. The commutator bars are soldered to armature coils. The brush/commutator combination makes a sliding switch that energizes particular portions of the armature, based on the position of the rotor. This process creates north and south magnetic poles on the rotor that are attracted to or repelled by north and south poles on the stator, which are formed by passing direct current through the field windings. It's this magnetic attraction and repulsion that causes the rotor to rotate.

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ADVANTAGEThe greatest advantage of DC motors may be speed control. Since speed is directly proportional to armature voltage and inversely proportional to the magnetic flux produced by the poles, adjusting the armature voltage and/or the field current will change the rotor speed. Today, adjustable frequency drives can provide precise speed control for AC motors, but they do so at the expense of power quality, as the solid-state switching devices in the drives produce a rich harmonic spectrum. The DC motor has no adverse effects on power quality

2.12 Kinematics: Introduction

_ Kinematics is study of motion _ Concerned with mechanisms and how they transfer and transform motion _ Mechanisms can be machines, skeletons, etc. _ Important for CG since need to animate complex objects that may have many Components or may be interconnected _ Motion of rigid objects involves Speed, velocity, and acceleration Degrees of freedom, constraints, and how they affect motion Two types of kinematics: 1. Forward 2. Inverse _ All of these important for computer animation as provide foundation on which all action is builtI.I.T

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1Kinematics: Basic Concepts _ Link is basic kinematic component Link is rigid moving part _ Linkage is set of links combined via joints _ Joint is movable connection Two types: 1. Pivot is based on rotation 2. Slide (piston) is based on translation

_ Kinematic pair is simplest linkage: 2 links combined via joint 1 link constrained to pivot (or slide) Is primary component of kinematics _ Kinematic chain (articulated chain) is set of kinematic pairs linked by joints

Proximal end is fixed to 1st link Root is point of articulation of proximal end Distal end is end of _nal link End e_ector is point of distal end that can be used to move the chain _ Closed kinematic chain is closed mechanical connection of kinematic pairs

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Proximal end connects to distal end At least 1 link is immobile

Kinematics: Components (2)_ 4 bar linkage is simplest closed kinematic chain

Consists of 4 links and 4 joints Fixed link is immobile Driver link drives the motion Connected to one end of _xed link Follower link moved by driver link Connected to other end of _xed link Coupler link connects driver to follower Constrained so that given position of 1 link, others known _ Skeleton (armature) is hierarchy of kinematic chains Children can be transformed independently Each level has own coord system Objects rotate about own centers Branches rotate about parents' centers Rotation of parent propagated to children

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Kinematics: ModelsKinematic model is kinematic chain and geometry that surrounds chain 1. Rigid geometry does not deform 2. Flexible geometry deforms Called skin or envelope _ Simple machine alters magnitude and/or direction of applied force 1. Lever 2. Pulley 3. Inclined plane 4. Wedge 5. Screw _ Machine (mechanism) is system of connected (usually) rigid bodies that alter, transmit, and direct force in predetermined way Combination of simple machines _ Machine parts characterized by their motion Translatory motion follows straight path Rotary motion follows curve or circular path Motion can be 1. Continuous and omnidirectional 2. Reciprocal and oscillatory

_ _ Devices for transforming motion:

Rocker arm reverses motion Bell crank ampli_es motion Crank transmits rotary motionI.I.T

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Kinematics: Models - 4 Bar Linkages8 basic 4 bar linkages associated with cranks Characterized by 1. Number of cranks 2. Conversion of motion 3. Velocity ratio of driver and follower L

Linkage Number of Motion converted Velocity cranks ratio Double lever 0 Reciprocating arc to Variable reciprocating arc Crank lever 1 Continuous circular to Variable (crank rocker) reciprocating arc Double crank 2 Continuous circular to Variable (drag link) continuous circular Parallel double 2 Continuous circular to Constant crank continuous circular equal velocity Reverse anti- 2 Continuous circular to Constant parallel reverse continuous circular opposite velocity Converse anti- 2 Continuous circular to ConstantI.I.T

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parallel reverse continuous circular equal velocity Isosceles double 2 Continuous circular to Constant crank continuous circular variable velocity Isosceles crank 1 Continuous circular to Variable lever reciprocating arc

Kinematics: Models - Motion ConversionDevices for converting one type of motion to another: To Continuous Reciprocating From Trans Rotary Trans Rotary arc Cont Rotary Double crank Cam Crank lever Parallel crank Crank slider Recip Trans Slider crank Rocker arm Slider lever (toggle) Rotary arc Lever crank Lever slider Double lever Slider-crank

_ Connecting rod converts reciprocal to rotary motion Cam

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2 Types: 1. Continuous motion that is discontinuous at extremes 2. Continuous acceleration _ Devices can be combined in infinite ways _ Effectors can make to move freely in 3D

2.13 WHEELSA wheel is a device that allows heavy objects to be moved easily through rotating on an axle through its center, facilitating movement or transportation while supporting a load (mass), or performing labor in machines. Common examples found in transport applications. A wheel, together with an axle, overcomes friction by facilitating motion by rolling. In order for wheels to rotate, a moment needs to be applied to the wheel about its axis, either by way of gravity, or by application of another external force.

Mechanics and functionThe wheel is a device that enables efficient movement of an object across a surface where there is a force pressing the object to the surface. Common examples are a cart pulled by a horse, and the rollers on an aircraft flap mechanism. Wheels are used in conjunction with axles, either the wheel turns on the axle, or the axle turns in the object body. The mechanics are the same in either case. The low resistance to motion (compared to dragging) is explained as follows (refer to friction):

The normal force at the sliding interface is the same. The sliding distance is reduced for a given distance of travel. The coefficient of friction at the interface is usually lower.

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Additional energy is lost from the wheel-to-road interface. This is termed rolling resistance which is predominantly a deformation loss. A wheel can also offer advantages in traversing irregular surfaces if the wheel radius is sufficiently large compared to the irregularities. The wheels used in this robot are of 7.5 cms diameter.

2.14 Light-emitting diode.

Light-emitting diode

Red, pure green and blue LEDs of the 5mm diffused type Type Working principle Invented Electronic symbol Passive, optoelectronic Electroluminescence Nick Holonyak Jr. (1962)

Pin configuration

anode and cathode

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Parts of an LED. Although not directly labeled, the flat bottom surfaces of the anvil and post embedded inside the epoxy act as anchors, to prevent the conductors from being forcefully pulled out from mechanical strain or vibration.

LED spotlight using 38 individual diodes for mains voltage power A light-emitting diode s a semiconductor light source. LEDs are used as indicator lamps in many devices and are increasingly used for other lighting. Introduced as a practical electronic component in 1962, early LEDs emitted low-intensity red light, but modern versions are available across the visible, ultraviolet and infrared wavelengths, with very high brightness. When a light-emitting diode is forward biased (switched on), electrons are able

to recombine withelectron holes within the device, releasing energy in the form of photons. This effect is calledelectroluminescence and the color of the light (corresponding to the energy of the photon) is determined by the energy gap of the semiconductor. An LED is often small in areaI.I.T

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(less than 1 mm2), and integrated optical components may be used to shape its radiation pattern. LEDs present many advantages over incandescent light sources including lower energy consumption, longer lifetime, improved robustness, smaller size, faster switching, and greater durability and reliability. LEDs powerful enough for room lighting are relatively expensive and require more precise current and heat management than compact fluorescent lamp sources of comparable output. Light-emitting diodes are used in applications as diverse as replacements for aviation lighting,automotive lighting (particularly brake lamps, turn signals and indicators) as well as in traffic signals. The compact size, the possibility of narrow bandwidth, switching speed, and extreme reliability of LEDs has allowed new text and video displays and sensors to be developed, while their high switching rates are also useful in advanced communications technology. Infrared LEDs are also used in the remote control units of many commercial products including televisions, DVD players, and other domestic appliances. Practical use The first commercial LEDs were commonly used as replacements

for incandescent and neon indicator lamps, and in seven-segment displays, first in expensive equipment such as laboratory and electronics test equipment, then later in such appliances as TVs, radios, telephones, calculators, and even watches (see list of signal uses). These red LEDs were bright enough only for use as indicators, as the light output was not enough to illuminate an area. Readouts in calculators were so small that plastic lenses were built over each digit to make them legible. Later, other colors grew widely available and also appeared in appliances and equipment. As LED materials technology grew more advanced, light output rose, while maintaining efficiency and reliability at acceptable levels. The invention and development of the high power white light LED led to use for illumination, which is fast replacing incandescent and fluorescent lighting. (see list of illumination applications). Most LEDs were made in the very common 5 mm T1 and 3 mm T1 packages, but with rising power output, it has grown increasingly necessary to shed excess heat to maintain reliability, so more complex packages have been adapted for efficient heat dissipation. Packages for state-of-the-art high power LEDs bear little resemblance to early LEDs.

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2.15 CAMERAWireless camera is closed-circuit television (CCTV) cameras that transmits video and audio signal to a wireless receiver through a radio band. Wireless security cameras require at least one cable or wire for power; "wireless" refers to the transmission of video/audio. This camera is a battery-powered, making the cameras truly wireless from top to bottom.

FEATURESWireless transmission and reception, small size, light weight, low power consumption, high sensitivity, easy installation and operation, easy to connect. SPECFICATIONS Image Sensor Signal System Horizontal Resolution Scan Frequency Min Illumination Transmission Power Transmission Frequency Demodulation Mode Antenna Receiving Power Supply Range of Transmission 1/3 inch CMOS PAL/CCIR NTSC/EIA 380 TV lines PAL/CCIR: 50 Hz NTSC/EIA: 60 Hz 3 LUX 50mW 1.2 GHz FM 50 ohm SMA DC 12V 35 mts.

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Analog wirelessAnalog wireless is the transmission of audio and video signals using radio frequencies. Typically, analog wireless has a transmission range of around 300 feet (91 meters) in open space; walls, doors, and furniture will reduce this range. Types of Analog wireless Analog wireless is found in three frequencies: 900 MHz, 2.4 GHz, and 5.8 GHz. Currently, the majority of wireless security cameras operate on the 2.4 GHz frequency. Most household routers, cordless phones, video game controllers, and microwaves operate on the 2.4 GHz frequency and may cause interference with your wireless security camera. 900 MHz is known as Wi-Fi Friendly because it will not interfere with the Internet signal of your wireless network. Pros

Affordable: the cost of individual cameras is low Multiple receivers per camera: the signal from one camera can be picked up by any

receiver; you can have multiple receivers in various locations to create your wireless surveillance network Cons

Susceptible to interference from other household devices, such as microwaves, cordless Signal is not secureneighbors can pick up the transmission on their radios or other Quality of video and audio is average/poor; image can degrade significantly with

phones, video game controllers, and routers

devices on a similar bandwidth

interference

Digital wireless camerasDigital wireless is the transmission of audio and video analog signals encoded as digital packets over high-bandwidth radio frequencies. Pros

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Wide transmission rangeusually close to 450 feet (open space, clear line of sight High quality video and audio Two-way communication between the camera and the receiver Digital signal means you can transmit commands and functions, such as turning lights on You can connect multiple receivers to one recording device, such as security DVR

between camera and receiver)

and off

Cons

Usually more expensive than similar analog setup

Uses and Applications

Wireless security cameras are becoming more and more popular in the consumer market. They are a cost-effective way to have a comprehensive surveillance system in your home or business without needing an expensive installation. Wireless cameras are also a great for people renting homes or apartments. Since there is no need to run video extension cables through walls or ceilings (from the camera to the receiver or recording device) one does not need approval of a landlord to install a wireless security camera system. A wireless security camera is also a great option for seasonal monitoring and surveillance. You can observe your pool or patio in the summer months and take down the camera in the winter.

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CONSTRUCTION3.1 Mechanical:To bring the base metal sheet to the required dimensions it is bent length wise from two places. First, it is bent at a distance of 2cms from the edge (on both edges). Then from this line, towards inside it is bent at 5cms distance. The pressing is done using a press. Then 13 holes were drilled in the base, and 4 holes were drilled on the top 2cms strip, for the purpose of attaching other parts. On the base, on the bottom side, four clamps were fixed and tightened with M4 size screws. To each of these clamps dc geared motor (100 rpm) and wheels were coupled and fixed. The motors were tightened with the help of M10 size bolts. On the top side of the, the sliding channel was tightened. This channel will serve as arm. On the 2cms width strip an ACP sheet was screwed. This gives a base for fixing the circuit box. This box will be used to place to the receiver circuit. On the cover of this box the battery was clamped and a toggle switch was also tightened. On the ACP sheet a hole was drilled and a dc motor (10 rpm) was tightened with a M10 size bolt. On the shaft of the motor an L-shape link was fixed. On this link an ACP sheet of size 7.5cm4.5cm was fixed. On this base the camera was tightened with the help of 4 M4 size screw. To make the end effectors, at the end of the sliding channel an ACP sheet of 9.2cm5.5cm was tightened. On this sheet a dc geared motor was tightened with a M10 size bolt. On the shaft of the motor a 25 tooth spur gear was fixed. This spur gear was coupled with another identical gear. On both the gears links were tightened. To make the gripper a V-shape link with a bent base was tightened with M3 size screws, to the link. To drive the telescopic arm a dc motor was fixed beside it to an L-shaped link. On the shaft of the motor a wheel with grooves was fixed. A rubber tyre is placed in the groove. This rubber tyre is in contact with the sliding channel.

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3.2 ELECTRICAL & ELECTRONICS: The wires of the left hand side dc geared motors of the wheels were shorted together, and same was done on right hand side dc geared motors. Then these wires were connected to the relays. The wires of the other three motors were also connected to the relays. This relay is then connected to the receiver circuit. The receiver is connected to the 12V, 1.2 Amp battery, which acts as power supply. To make the remote controller, we placed the transmitter circuit in a plastic box. In this box on the side a toggle switch was tightened. This switch is connected to the transmitter circuit. This circuit is powered from a 9V battery. The transmitter circuit consists of 8 switches, 1 IC HT640, power ON/OFF switch, transmitter and LED. To assemble the camera receiving unit: Twist the reviever antenna into the receiver. Connect the receiver to the monitor with AV cable. Plug the DC 12V 500MA adaptor into the power jack of the receiver. Insert the DC 9v 500MA adaptor into the power jack of the camera. Adjust the frequency controller on the receiver to the required position. Adjust the lens of the camera to the best position, mount the camera with screws.

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WORKING

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4.1 WORKING:The robot is switched ON by the toggle switch on-board the vehicle. The robot is then placed near the area of operation. The remote controller, camera & camera receiving unit are also switched ON. The toggle switch on the remote controller box is toggled towards front side. The robot is then guided by the remote controller in the following manner: When switch 1 is pressed the left hand side wheels rotate in clock-wise direction. When switch 3 is pressed the right hand side wheels rotate in clock-wise direction. These both switches tend to move the robot in forward direction. When switch 5 is pressed the left hand side wheels rotate in anti-clockwise direction. When switch 7 is pressed the right hand side wheels rotate in anti-clockwise direction. These both switches tend to move the robot in backward direction. When switches 1 & 7 are pressed the robot turns towards right hand side in clockwise direction upto 360 degrees. When switches 5 & 3 are pressed the robot turns towards left hand side in anti-clockwise direction upto 360 degrees. When switch 4 is pressed the camera rotates in clockwise direction. When switch 8 is pressed the camera rotates in anti-clockwise direction.

The toggle switch on the remote controller box is toggled towards back side. The controller works in the following manner; When switch 1 is pressed arm moves backward towards inside. When switch 5 is pressed arm moves forward towards outside. When switch 3 is pressed the gripper opens/loosens its grip. When switch 7 is pressed the gripper closes/ tightens its grip.

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DESIGN AND FABRICATION

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Autodesks Digital Prototyping for Manufacturing Program A Review of Autodesks Digital Manufacturing ProgramThis review provides CIMdatas perspective on Autodesks digital manufacturing program. CIMdatas view is that Autodesks solution offering in this area is evolving substantially by both expanding existing manufacturing and digital prototyping capabilities and incorporating capabilities from Autodesks Architecture, Engineering & Construction Solutions group that directly address factory design. This is enabling Autodesk to provide much more substantial solutions for manufacturing companies. Currently, Autodesks capabilities are focused on factory and plant floor layout as opposed to sophisticated factory simulation and other high-end digital manufacturing capabilities. CIMdata provides its own reflections as well as describing the experiences of Autodesk customers and their perceptions of Autodesks technology and program.

1. IntroductionManufacturing has become increasingly complex and challenging for companies of all sizes in all industries. Meeting these challenges is forcing companies to make changes to improve their ability to cost-effectively produce products while maintaining a high level of quality necessary to satisfy their markets. Depending on the industry, the primary pressures include reducing costsI.I.T

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and capital expenditures on Property, Plant, and Equipment (PP&E), satisfying green and sustainability initiatives, speeding time-to-market, adopting new and more efficient manufacturing technologies, and taking advantage of global manufacturing. The challenge is to employ modern digital manufacturing processes and supporting technologies that help address these issues effectively. Digital manufacturing is one of a number of areas that CIMdata classifies as part of a holistic Product Lifecycle Management (PLM) strategy. It is supported by, and augments other aspects of PLM such as CAD, data management, data visualization, and best-practice driven workflows. Autodesk has been one of the largest suppliers of product development authoring tools for many years. Their design tools for architecture, buildings, and mechanical systems have been very popular and have established them as one of the leading suppliers of computer-aided design (CAD) tools in the manufacturing and architecture, engineering, and construction (AEC) industries. However, today they also provide more business solutions based on newly-developed tools. Their family of tools has grown substantially over the years through both internal development and acquisitions and they now support companies in both the manufacturing and building solutions market sectors. Autodesk has expanded their solutions into a number of areas, including simulation and analysis, data management, and digital manufacturing. While their perceived market position has been as a provider of design-focused point solutions, they recently have undertaken a strategy of integrating multiple tools into suites that provide solutions focused at specific industry problems. This has been a key transition for them. One area in which they have been evolving is in their support of manufacturing engineering. In this paper, we review Autodesks program for digital prototyping for manufacturing. We have interviewed a number of their customers and provide their perspectives on Autodesks support for digital manufacturing and the continuing evolution of their solutions by covering the following topics: 1 2 3 Industry ChallengesThe issues that companies face when trying to successfully employ Autodesks Overall ApproachDescribes Autodesks market position and evolving

manufacturing engineering capabilities to support their business. approach for manufacturing.

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Base Plate

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Clamp

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Links

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DC Gear Motor

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Wheels

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Complete 3D Model Of Remote Controlled Multipurpose Robotic Vehicle

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6. Applications

Panoramic Camera Providing the geologic context:

This high-resolution stereo camera reveals the surrounding terrain at each new location that the rover reaches. Its two eyes sit 30 centimeters (12 inches) apart, atop a mast about 1.5 meters (5feet) above the ground. The instrument carries 14 different types of filters, allowing not only full-color images but also spectral analysis of minerals and the atmosphere. Its images are used to help select rock and soil targets for more intensive study and to pick new regions for the rover to explore.

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Miniature Thermal Emission Spectrometer Identifying minerals at the site:

This instrumentviews the surrounding scene in infrared wavelengths, determining types and amounts of many different kinds of minerals. A particular goal is to search for distinctive minerals that are formed by the action of water. The spectrometer scans to build up an image. Data from it and from the panoramic camera are used in choosing science targets and new areas to explore. Scientists also use it in studies of Mars atmosphere.

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Moessbauer Spectrometer Identifying iron-bearing minerals:

Mounted on the rover arm, this instrument is placed against rock and soil targets. It identifies minerals that contain iron, which helps scientists evaluate what role water played in the formation of the targets and discern the extent to which rocks have been weathered. The instrument uses two cobalt-57 sources, each about the size of a pencil eraser, in calibrating its measurements. It is a miniaturized version of spectrometers used by geologists to study rocks and soils on Earth. Alpha Particle X-Ray Spectrometer Determining the composition of rocks:

An improved version of an instrument used by the Sojourner rover, this spectrometer is also similar to instruments used in geology labs on Earth. It uses small amounts of curium-244 in measuring the concentrations of most major elements in rocks and soil. Learning the elemental ingredients in rocks and soils helps scientists understand the samples origins and how they have been altered over time. Microscopic Imager Looking at fine-scale features: 55DEPT OF. MECH

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The fine-scale appearance of rocks and soil can provide essential clues to how those rocks and soils were formed. For instance, the size and angularity of grains in water-lain sediments can reveal how they were transported and deposited. This imager provides the close-up data needed for such studies.

Supplemental Instruments Engineering tools aid science:

Each rover also has other tools that, while primarily designed for engineering use in the operation of the rover, can also provide geological information. The navigation camera is a wider-angle stereo instrument on the same mast as the panoramic camera. Hazard-avoidance cameras ride low on the front and rear of the rover in stereo pairs to produce three-dimensional information about the nearby terrain. The front pair provides information to aid positioning of the tools mounted on the rovers arm. Rover wheels, in addition to allowing mobility, are used to dig shallow trenches to evaluate soil properties.

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Loss of Life

Out of Harm's Way : Placing robotics on the modern battlefield, more pointedly in the hands of our soldiers, airmen, and sailors, will not always prevent lose of lives. However, it will go a long way to help reduce a significant amount of inherent risk. Using robotics via UAVs to collect information from a safe standoff zone is one way our military services have already benefited. Another is just now happening with TMRs in Bosnia. In response to an urgent request from the20

Army, two prototype Foster-Miller TMRs (shown in Figure 8) were assembled and are currently assisting the 766 Explosive Ordnance Detachment (EOD) to locate, identify, and disarmth

unexploded bomb ordnance. One TMR uses laser technology and four mini-cameras to locate21

and identify the ordnance. Then, a larger version TMR equipped with six cameras, an articulating arm, and a claw like hand is used to move the ordnance to a three-sided enclosure where it is safely disarmed. With the help of TMRs, a single detachment was able to set a record22

disarming eleven unexploded ordnance devices in one day. Officially these TMRs are23

undergoing a field test however according to the team leader Sgt. Platt, "This is real-lifeThere's nothing more real than this. Similar uses might include sending in TMRs to assess damage, and24

even possibly make repairs, during nuclear catastrophes like Chernobyl. TMRS could measure radiation or use chemical and biological sensors to determine if a building or an area is safe for humans. Additionally, they could infiltrate a highly secure area to collect audio sounds, map obstacles, locate individuals, and monitor movements.

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Figure 8. 766 EOD Training in Bosnia

Nonlethal Weapons

Besides keeping our military members out of harm's way, robotic technology also has the capability to gain control of a situation using non-lethal weapons. The use of nonlethal weapons25

has become an option popular with the American media and several liberal human rights groups. However, military commanders are extremely nervous about this option because our men and women, by the nature of our mission, are trained to destroy their enemy. Our troops are trained26

22 and then briefed on the appropriate use of force for each mission. Frequently, peacekeeping27

missions do not require lethal force, but have the potential to become extremely volatile. These situations could cost our troops their own lives because they may spend an additional second trying to decide whether or not to use a lethal weapon or if they incorrectly choose to use a nonlethal weapon. Robotic technology, specifically TMRs, could very well be one answer. TMRs equipped28

with nonlethal weapons and controlled by a trained tactical team operating from a safe standoff position could gain control of the situation without lethal weapons, or at least without putting troops in harm's way if a nonlethal weapon was not the right choice. Teleoperated TMRs have the ability to29

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the target and prevent them from using their legs, arms, and hands. TMRs can discharge chemical agents like, pepper sprays, and tear gas, which incapacitates or renders the target harmless. Also, they can fire various nonlethal projectiles such as rubber bullets, rubber balls, or bolas. If a human can shoot a weapon via a handheld device, then a TMR can be equipped to do the sam

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PICTURE OF OUR PROJECT MODEL

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CONCLUSION:The main scope of our project is to go through irregular surfaces by means of expansion suspension in areas like forests, mountains, space etc. So we designed a model which is a robotic vehicle. It is a vehicle that can navigate inaccessible terrains like forest, mountains, space etc. It can also be used in military applications in tracking enemies.

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Cost Analysis

Wireless AV Camera DC Geared Motors (5 nos) Lead acid battery Alluminium Base Plate Springs (4 nos) Links and clamps Toggle Switches ( 5 nos) Nuts and Bolts Machining and fabrication Transportation Miscellaneous

-----------------------

3,000/1,500/550/500/100/250/500/50/2,000/500/250/-

Total

---

9,200/-

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BibliographyAir Force Operational Requirements Document (ORD) DRAFT, Advanced Remote Ground Unattended Sensor (ARGUS), AC2ISRC 001-99, 24 November 1999. Bishop, Major Stephen M., Tactical Unmanned Aerial Vehicle (UAV) Reconnaissance. Hurlburt Field Fla. UAV Battle Lab,1999. Carroll, Maj Douglas E. Special Forces Doctrine and Army Operations Doctrine. Report 93-28165. Fort Leavenworth KS.: U.S. Army Command and General Staff College, 1993. Cooper Pat Send in the Marines? OK, but First Send in the Crabs. Navy Times, Vol 44 Issue 36, (June 12 1995): 27. Dougherty, Kevin Remote Control Robots Get Trial Run In Bosnia, Stars and Stripes, 6 February 2000. Gallagerher, James J. Low Intensity Conflict: A Guide for Tactics, Techniques, and Procedures. Mechanicsburg, PA: Stackpole, 1992. Griffith, Samuel B. Sun Tzu the Art of War. New York, N.Y.: Oxford University Press, 1971. Holmes, Maj Sharon L. The New Close Air Support Weapon: Unmanned Combat Aerial Vehicle In 2010 and Beyond. Report 99--359 Fort Leavenworth, KS.: U.S. Army Command and General Staff College, June 1999. Kinchel, David G. Robotics Insertion Technology. Engineer, Vol 27 Issue 3, (Aug 1997): 2425. Klarer, Paul Intelligent Systems & Robotics Center. n.p.; on-line, Internet, 21 January 2000, available from http://www.sandia.gov/isrc. Koerner, Brendan I. Creepy Crawly Spies; Tiny Robotic Insects May Soon Serve as Military Scouts. US News & World Report, Vol 125 Issue 10 (Sept. 14 1998): 48-49. Kolich, Matthew J. An Analyze of the Tactical Unmanned Vehicle light During Urban Combat Operations Using the JANUS Combat Model. Report 99-079. Monterey, CA.: Naval Postgraduate School, March 1999. Linder, James B. A Case for Employing Nonlethal Weapons. Military Review, Vol 76 Issue 5 (Sep/Oct 96): 25-30. Mangolds, Arins Lemmings-Autonomous Surf Zone Survey Platform. Waltham, Mass.: Foster-Miller, Inc., 1998. Research Division n.p., on-line, Internet, 21 January 2000, available from http://www.isr.com/research. Seffers, George I. Special Forces Wants Small Robots on Their Team. Army Times, Vol 58 Issue 39(April 27 1999): 28. Watson, Russell, and John Barry. Tomorrows New Face of Battle. Newsweek, Winter 97/98 Extra Millennium Issue, 66-67. Wilson, George C. A Chairman Pushes Unmanned Warfare National Journal,

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Documents

Remote Controlled Multipurpose Robotic Vehicle (1)