ACTRON TECHNOLOGY

The Actron Multiple Surface Tracked Platform

Tracked Platform Specifications

• Length (including tracks) 42 in (105 cm ).
• Width (including tracks) 16 in (40 cm ).
• Height (including batteries) 11 in (28 cm).
• The Max speed is 15 ft per second under full load
• The base has dual 24-volt 90in-lb torque drive motors
• Maximum recommended payload is 135 lbs (52 kgs).
• Two optic encoders are included on motors.

Gearmotor and Encoder Specifications

• 24 VDC Perm Magnet
• Angle Shaft Gearmotor
• 500 RPM 5.30 Amps
• Overhung load 90lbs
• Gear Ration 5:1
• Mounting brackets

The gearmotors include rotary optical encoders. The encoders are mounted on the end of the motor opposite the gearbox.

MD03 Dual Motor Drive:

Description:The MD03 by Devantech is a robust medium power motor driver designed to supply power and control for one motor. Several control modes. 20A current capacity for 5V to 50V motors.

Specifications:
• Voltage 5v logic supply and 5v - 50v for the motor
• Current 50mA Max for logic and up to 20a for the motor
• Mode 1 0v-2.5v-5v Analog, 0v full reverse, 2.5v stop, 5v full forward
• Mode 2 0v - 5v (or PWM equiv.) with seperate direction control
• Temperature Limiter Reduces power gracefully if module overheats
• Size 113mm x 52mm x 30mm

Master P4 Mini PC:

The smallest Pentium 4 system in the world! This mini system is a full Pentium 4 PC in an ultra small case. It has all the features of a regular PC in a tiny package. It's innovative cooling system results in a very low noise system. Great for small spaces or industrial applications.

• IEEE 802.11b
• Operating Frequency: 2.4 GHz
• Data Rate: 11/5.5/2/1 Mbps (dynamic adjustment)
• Modulation: DSSS
• Operating Power: 5.0V
• Working Range: Indoor - upto 50m
• Working Range: Outdoor - upto 150m
• Security: 64/128-bit WEP
• Antenna: External Antenna
• Supports Windows 98SE/ME/2000/ME/XP, Linux

BrainStem Satalite Computer:

Description:
This BrainStem Module offers 2 channels of high-resolution motion control. These channels offer flexible PWM or PID control of motors with various types of feedback including encoders, quadrature encoders, analog input, and Back-EMF speed control.

Details:
The Moto 1.0 board can handle a variety of motion control needs in your projects. This new module builds on the success of the original GP 1.0 module with the ability to run concurrent TEA programs , reflexes , and handle slave commands from a host PC, all simultaneously.
The Moto 1.0 board accepts two of our 3 Amp H-Bridge with back EMF control. Access to the module is through a Console. Application, C, C++, or Java. All supported platforms include a TEA compiler, support libraries, example code, and example applications.

Vision Processor:

The smallest Pentium 4 system in the world! This mini system is a full Pentium 4 PC in an ultra small case. It has all the features of a regular PC in a tiny package. It's innovative cooling system results in a very low noise system. Great for small spaces or industrial applications.

Computer Features:

• Fully functional Pentium 4 system up to 2.8Ghz
• 5.82"(W) x 10.0"(D) x 2.79"(H) (14.8 x 25.4 x 7.1 cm)
• Supports standard 3.5" hard disk
• On-board 10/100 LAN, 1394, USB 2.0
• Printer & serial ports, AC'97 Audio
• Ultra low noise and power consumption

Pan, Tilt, and Zoom CCD Camera:

The PowerPod turns a CCD Web Cam that can pan, tilt and zoom under computer control!

Unique Features:

• Robotic base for camcorders
• Pan, tilt, and zoom your DV camcorder
• Zoom is optical with Canon ZR, digital with other camcorder models.
• Enable remote control over the Internet
• Handles camcorders up to 3 lbs. in weight
• Works with DVdriver or TrackerCam Software

Laser Range Scanner:

As a compact complete sensor, the PLS laser scanner requires no reflectors, separate receivers, or mechanical devices. With minimum installation effort an approved and recognised safety system comes into being. The system uses light from an infrared laser to horizontally scan its surrounding area over a 180° arc up to a range of approx. 50 m.

• Fields of application Area safeguarding
• Dimensions (W x H x D) 155 mm x 185 mm x 156 mm
• Response time min. 80 ms
• Number of protective fields 1
• Number of warning fields 1
• Resolution 70 mm (at a distance of 4 m)
• Laser protection class 1
• Power consumption max. 17 W (plus load on the outputs)
• Range (protective field) max. 4 m
• Range (warning field) max. 15 m (at 20% remission)
• Scan angle max. 180°
• Enclosure rating acc. to EN 60529 IP 65
• Safety category acc. to EN 61496 3
• Safety category acc. to EN 954-1 Cat. 3
• Ambient operating temperature 0 up to + 50 °C
• Supply voltage 24 V -30%/+20%

Polaroid 6500 Sonar Ranging Unit:

• TTL-Compatible
• Socketed Digital Chip
• Selective Echo Exclusion
• Convenient Terminal Connector
• Multiple Measurement Capability
• Accurate from 6 inches to 35 feet
• Variable Gain Control Potentiometer
• Drives 50-kHz Electrostatic Transducer with No Additional Interface
• Uses TI TL851 and Polaroid 614906 Sonar Ranging Integrated Circuits
• Accurate Clock Output Provided for External Use

The 6500 Series is an economical sonar ranging module that can drive all Polaroid electrostatic transducers with no additional interface. This module, with a simple interface, is able to measure distances from 6 inches to 35 feet. The typical absolute accuracy is (+-) 1% of the reading over the entire range.

Magnetic Digital Compass:

It is extremely useful to tell what direction the robot is going as related to the world and not just direction of the wheels. This compass was designed by specifically for use in robots to aid navigation. This compass module has been specifically designed for use in robots as an aid to navigation. The aim was to produce a unique number to represent the direction the robot is facing. The compass uses the Philips KMZ51 magnetic field sensor, which is sensitive enough to detect the Earths magnetic field. The output from two of them mounted at right angles to each other is used to compute the direction of the horizontal component of the Earths magnetic field.

• Voltage 5v , Current 20mA Typical.
• Size 32mm x 35mm, Weight 0.03 oz.
• Resolution 0.1 Degree, Accuracy 3-4 Degrees approx (after calibration)
• Output 1 Timing Pulse 1mS to 37mS in 0.1mS increments
• Output 2 I2C Interface, 0-255 and 0-3599
• SCL Speed up to 1MHz

GPS Receiver Module:

The DS-GPM is a highly integrated Global Positioning System Module. The DS-GPM provides latitude, longitude, heading, altitude, speed, time, date and satellite position in easy to access registers via IIC and RS232 communications.

Features Summary:12 Channels "All-In-View" Tracking, Cold/Warm/Hot Start Time: 45/38/8 Seconds, Reacquisition Time: 0.1 seconds, Support Standard NMEA-0183 and SiRF Binary protocol, Support Accurate 1PPS Output Signal Aligned with GPS Timing, Trickle Power Enabled for Power Saving, Attaches to GP 1.0 module or a four-line, TTL IO port
Mechanical Size 3.5 in(L) x 2.0 in(W) x 0.9 in(H)

Heat Sensor

This sensor package allows you to detect movement of humans and pets. It can also be used for finding candles and other sources of heat.
Details: The package is simple, efficient and entirely self contained including an op-amp to condition the output. Interfacing the sensor is simple with only one analog output to sample with a micro.The sensitivity of this sensor is tuned to the human body's infra-red emissivity. The package includes an Eltec 442-3 detector, fresnel lens that is matched to the detector, application notes, instructions on building a concentrating cone to focus a wide area of detection, and a pattern for building the cone.

Sharp IR Sensor

• Less influence on the color of reflected objects, reflectivity
• Analog voltage corresponding to distance
• Detecting distance of 4 to 30 cm
• External control circuit unnecessary
• Low cost

Recently this technology has been taken into the automotive engine compartment troubleshooting arena. The mechanic simply points the handheld, digital IR temperature gauge at suspected hot spots under the hood of the vehicle to quickly determine what is abnormally hot and hence probable to be in need of repair or replacement. These handheld units sell for less than $300.

Gas Sensor

Smoke and toxic gas detectors have become so common due to their early detection and prevention of fires that insurance companies routinely discount their insurance premiums when these now low cost smoke detectors are in place. For all the right reasons, insurance companies have long championed the use of technology for early fire detection and prevention.
Gas Sensors are used for safety, health and instrumentation. Popular applications include residential and commercial/ industrial alarms for toxic and explosive gases, breath alcohol checkers, automatic cooking controls for microwave ovens, air quality/ventilation control sytems for both homes and businesses. etc.

Many if not most fires start out very small. Overloaded electrical circuits heat up and then ignite their insulation or surrounding. Overloaded, or poorly maintained machines heat up and ignite themselves and/or their surroundings. Spontaneous combustion bursts into flame in buckets of greasy or solvent soaked rags after having achieved sufficient heat to ignite. And the careless smoker tossing an unextinguished cigarette into a trash can causes many fires. Fires start out as hot spots in areas that were probably not hot before. Otherwise that area would have already burst into flame.

Movement Sensor

This piezo gyro is tiny but very sensitive. The low power requirement and small size are results of the demands placed on gyros in electric RC helicopters and small RC airplanes. This detector can be used any time your robot needs to sense rotation about a single axis. Multiple gyros can be used to determine rotation in more than one axis.

Surveillance Tower:

This compass module has been specifically designed for use in robots as an aid to navigation. The aim was to produce a unique number to represent the direction the robot is facing. The compass uses the Philips KMZ51 magnetic field sensor, which is sensitive enough to detect the Earths magnetic field. The output from two of them mounted at right angles to each other is used to compute the direction of the horizontal component of the Earths magnetic field.
You need to be able to turn things off at different times for testing. Here is where a power distribution board comes in. You can catch a glimpse of it in some of the pictures in the Mobile Base section. The board is nothing more than some filtering capacitors, switches and terminal blocks. You only need one mounted at this time but you should have a second one ready if needed.

Power Distribution:

You need to be able to turn things off at different times for testing. Here is where a power distribution board comes in. You can catch a glimpse of it in some of the pictures in the Mobile Base section. The board is nothing more than some filtering capacitors, switches and terminal blocks. You only need one mounted at this time but you should have a second one ready if needed.

Battery Charger System:

The Guardbot contains a circuit that monitors the state of charge of the batteries, measuring the battery voltage and current delivered to the load. When the charge falls to a 15-minute reserve level, a low-battery signal is sent to the computer. The MentorBot immediately sets out to locate the battery charger. If the charger is not located within 15 minutes, the power to the robot and its computers is shut off.

Batteries:

For the main power source, heavy duty, rechargeable gell cells are more practical. Power-Sonic PS-12330s are recommended, and brackets are included.

For more information, go to:
http://www.power-sonic.com/

Batteries Mechanical Specs	
Dimensions:	
Length	6.56 inches	166 millimeters	
Width	4.95 inches	126 millimeters	
Height	6.89 inches	175 millimeters	
Approximate Weight	20.80 pounds	9.40 kilograms	
Terminal posts with 5mm nut & bolt connector
Case:	ABS Plastic	
Batteries Electrical Specs	
Nominal Voltage:	12 Volts (6 cell in series)	
Nominal Capacity:	
20 hour rate	(1400mA to 10.50 volts)	28.0 AH	
10 hour rate	(2630mA to 10.50 volts)	26.3 AH	
5 hour rate	(5200mA to 10.20 volts)	26.0 AH	
1 hour rate	(21000mA to 9.00 volts)	21.0 AH	
Energy Density (20 hr rate)	1.50 Watt-hrs/cubic in 
Specific Energy (20 hr rate)	18.0 Watt-hours/pound	
Internal Resistance -FullChg	10 milliohms (approx.)	

Two turn-on conditions are also defined: The first is the charging voltage that indicates that the charger is attached and that the power to the robot can be turned on without discharging the battery. The second is the minimum open-circuit voltage of the battery that indicates more than 10 minutes of energy is available to power the load. This level of power (24VDC, 12+AH) capacity weighs about 40 pounds which is 40% of the weight capacity of the platform. The motors and electronics draw about 5 amps when in use, which means 5 hours of us between charging. So for a robot workday from 7AM to 7PM (12 hours), the robot would be available only 10 hours or so, with 2 hour charging intermissions every 5 hours.