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Specifications:
Specifications for Hades Cybernetics fire-fighter robot are as follows:
Motor Unit:
| Unit Name | Part Number | Usage | Functionality |
| Motor | Lego motors (provided in the Mindstorm kit) |
Two for maze traversal; One for discharging fire suppressant |
Two main driving wheels are independently controlled by the motors for differential driving and direction control |
| H-Bridge motor driver | L298M | One bridge for both maze
traversing motors; Powered by a 9-volt and a 5-volt battery; Driven by PWM’s from OOPic |
Provides enough power to drive the motors |
Sensor Units:
| Unit Name | Part Number | Usage | Functionality |
| Wall sensor unit: signal generator | Astable multivibrator; Transistor; Multiplexor | One generator; signal multiplexed for three transmitter | Generates 38kHz square wave signal |
| Wall sensor unit: transmitters | LED’s | Three LED’s for detecting front, left and right walls | Transmits 38kHz infrared signal towards walls |
| Wall sensor unit: IR remote control receivers |
SFH5110-38 | Three receivers for detecting front, left and right walls | Detects 38kHz infrared signal reflected back by walls up to 1-inch distance |
| Fire sensor unit: receivers | Yet to be determined | One receiver for front fire detection | Detects presence of flame by detecting its wavelength |
| Bump sensor unit | Yet to be determined | Two bumpers at the front of the robot | Detects presence of walls missed by wall sensor unit |
Processor Unit:
| Unit Name | Part Number | Usage | Functionality |
| Digital Processor | OOPic Ver. 1.1 | One OOPic for robot; Powered by a 5-volt battery |
Programmed via Visual Basic
like language; Generates virtual hardware objects such as
PWM , A/D converters, OP-amps and basic digital logic; Used in control applications such as navigation control, sensor switching and motor control. |
Status Units:
| Unit Name | Part Number | Usage | Functionality |
| Status indicators | LED’s | Approximately ten LED’s for all units | Indicates status of each unit |
Physical Robot/Chassis:
| Unit Name | Part Number | Usage | Functionality |
| Hades Cybernetics | Lego components (provided in Mindstorm kit) |
One big block of Lego parts with dimensions less than 12" x 12" | Rooms all robot units within the specified dimensions |
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Last Modified: Feb 14, 2000
Comments and Suggestions are welcome!