People's Democratic Republic of Algeria
Ministry of Higher Education and Scientific Research
SAAD DAHLAB University of BLIDA: Faculty of Technology
Department of Electronics
ROBOTUBE
Specialty :
embedded systems
Presented by :
Abbaci Oussama
GENERAL INTRODUCTION
In the summer, the entire world grapples with the
issue of forest fires, necessitating human
intervention to address the problem using tools such
as water buckets and water hoses. However, this
method puts firefighters at risk of burns, the danger
of suffocation due to carbon dioxide gas, and even
the risk of falling debris. My project introduces a new
device designed to mitigate risks for humans in
hazardous situations. This device is called:
ROBOTUBE.
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ROBOTUBE
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Before this invention, firefighters had to carry
water hoses until they reached the fire source,
bearing the weight of the hose and the heat of the
fire.
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Now, with ROBOTUBE, the firefighter can drive it
from or behind the fire truck to the fire source,
paving the way for a safe entry into the heart of the
event.
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WHAT IS ROBOTUBE
ROBOTUBE is a soft robot that can crawl from
the base to the target without causing friction on
the floor, and it can transport fluid material
through it. It's made up of four principal parts.
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First, we have the acrylic box, which serves
as the main hydraulic motor of the robot. It is
where we store the body and serves as the
starting point for the growth of the robot.
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Secondly, the robot's head. Its task is to
orient the robot using a hydraulic system.
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WHAT IS ROBOTUBE
Third, the head fixation. Its importance lies
in keeping the head stable in front and
preventing it from falling. It uses eight DVD
motors.
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In the end, the direction system. It's made
up of six motors on the exterior of the acrylic
box, connected to a hydraulic cylinder in the
head.
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PCB CONTROL PART
To control the drivers, we use the STM32F407VET6
microcontroller. :
Core: Arm® 32-bit Cortex®-M4 CPU with FPU, frequency up to 168
MHz
Memories Up to 1 Mbyte of Flash memory and 192+4 Kbytes of
SRAM including 64-Kbyte of CCM (core coupled memory) data RAM
Up to 17 timers: up to twelve 16-bit and two 32-bit timers up to 168
MHz, each with up to 4 IC/OC/PWM or pulse counter and
Up to 140 I/O ports with interrupt capability
Up to 136 fast I/Os up to 84 MHz
Up to 138 5 V-tolerant I/Os
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PCB POWER MANAGEMENT
To power the microcontroller and the USB to USART
converter, we use AMS1117 3.3V.
For the drivers, we use one AMS1117 5V to power
five of them(In total 3).
Regarding the motors, we provide 12V to the seven
NAMA motors and 5V to eight DVD motors.
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PCB DRIVERS
To control the motors, we used fifteen DRV8825
stepper driver.
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THANK YOU FOR YOUR ATTENTION