Prometheus Prometheus is an assistant robot created by Andrei Kamalov, an undergradute electrical engineering student at the University of Florida. Prometheus is designed to find a beacon of blue light, track it, and follow the light source, while carrying cargo. If the user attaches an array of blue LED's to the back of their ankle, Promethius will follow the user while carrying their cargo. Systems Prometheus uses 4 kinds of sensors to observe its environment: a CMUcam, IR sensors, a Sonar range sensor, and an array of bump sensors. The CMUcam is used to track the guiding blue beacon, while a sonar sensor is used to measure the distance between the user and Prometheus. Prometheus's processor will take the date from the camera and the sonar to determine what direction it should go and at what speed. In addition, Prometheus utilizes two IR range sensors, and 8 bump sensors to make sure that it does not run into obstacles while performing its job. Progress Thus far, the CMUcam has been tested and interfaced with Prometheus's Atmega128. The IR sensors are tested and mounted, while the bump sensors have been tested, and are half-mounted. The motor mounts have been made, and a motor driver has been assembled and tested. Prometheus has a tested drive algorithm that's designed to work with the CMUcam to track the array of blue LED's. The platform performs all of the main tasks associated with executing it's job, and is now being finalized and perfected for public demonstration. Tasks remaining - mount and test a commercial set of bump sensors. - find a way to attach a 9V battery and the blue LED array to a user's heel - install rechargeable Lithium Polymer batteries. - attach a second plywood sheet to store cargo - mount all unsecured components Pictures picture 1 - a nearly completed Prometheus. picture 2 - one of two motorized wheels. The wheels consist of a hard plastic core with aluminum bracing on the side, and a rubber tire. picture 3 and picture 4 - This is Prometheus's main sensor. The sensor includes a CMUcam2+, a Maxbotics sonar, and a mounted servo motor. Picture 3 shows an orange curtain used to reduce the noise seen by the camera, while picture 4 shows the camera module being used. The sonar is pictured in the top right of the picture. picture 5 - one of 6 bump sensors that Prometheus will feature picture 6 - one of Prometheus's 2 Infrared proximity sensors picture 7 - an image of the powered blue light beacon that Prometheus is designed to track and follow picture 8 - Prometheus is driven by two DC motors. These are relatively large and powerful motors, and are mounted using relatively thick aluminum stock. This image also shows a small part of the delicate wood and metal work used to mount Prometheus's wheels. |
