Synthesize Ideas
1.	Software
1.1	PBasic - Basic Stamp I or II Interpreter
1.2	PIC Assembler - 16F84
1.3	Additional Development stations
2.	Fire-Fighting Robot
  See document:  Roboprog.mmp (this document)
3.	Hardware
3.1	Robot Starter Kits
We examined 3 sources of mobile robot "motorized platforms".  The Zagros 
model 99, priced at $230, comes with a 12" round base and no controller. 
We didn't  consider it because it was too large for our application 
(navigating 18" wide passageways would leave only 3" a side). 
The Lynxmotion CarpetRover, priced at $115 + $6 cable = $121, 
comes with a pair of modifiable Hitec HS-300B servos rated each at 
42 oz/in torque, 0.19 sec/60 deg speed. It has 3" dia. tires, and a rotating 
caster on a 6" x 6" durable base. It's maximum speed is 8"/sec., and it 
comes with a Parallax Basic Stamp I u-controller kit, software, and manual. 
We liked this base the best but the Stamp I does not have enough speed/memory/IO. 
We also examined the Parallax Growbot, which is $153 with educational 
discount. It comes with a pair of modifiable Futaba S-148 servos rated each 
at 40 oz/in torque, 0.22 sec/60 deg speed, has 2.5" dia wheels, a plastic 
ball on a piece of buswire for a non-rotateable caster, and uses the Parallax 
Basic Stamp II controller PC board as a 3.5" x 5.5" base. It comes with the 
Basic Stamp II controller kit, software and manual.  We liked the controller, 
but the base was too small and flimsy for our application.  
After reading many web and magazine articles, including Robot 
Science and Technology premier issue article "Fire Science Meets 
Robot Technology" by John Piccirillo, we decided to purchase both the 
Lynxmotion CarpetRover and the Parallax Growbot. We would use both 
u-controllers, one for sensors and related tasks, the other for motor drive 
control. Both will mount on the Lynxmotion base.  One of the Growbot 
servos can be used to "radar sweep" a pyro sensor.
 
3.1.1	Parallax Growbot
  See document:  http://www.parallaxinc.com/stamps/growbot.htm
3.1.2	Lynxmotion CarpetRover Kit
  See document:  http://www.lynxmotion.com/kits.htm
3.2	Add sensors
Sensors will be required for navigation and flame detection.

3.2.1	Navigation
Navigational Dead Reckoning errors must be overcome with sensors 
that keep the robot on a correct heading with distance/bearing 
and wall/object recognition sensory feedback: 

	Infrared Reflective proximity detector
  See document:  http://www.verinet.com/~dlc/projects/botproj.htm
	Utrasonic proximity detector
  See document:  http://www.zagrosrobotics.com
	Compass, Dinsmore 1490
  See document:  http://dinsmoregroup.com/dico/
	Wheel encoders
Either optical or magnetic wheel encoders will be employed to count off distance traversed. 

3.2.2	Flame detection
The flame sensor must discern flame from ambient lighting and 
warm bystanders.

	Infrared pyrometer
This is one possible flame sensor:
  See document:  http://www.acroname.com/robotics/parts/R3-PYRO1.html

	UV-Tron Ultraviolet flame sensor 
This is another type of flamesensor: 
  See document:  http://www.hpk.co.jp/products/ETD/UVtronE.htm

3.3	Flame extinguisher
The flame must be extinguished after the robot is within 12".

3.3.1	solenoid actuated compressed air
3.3.2	fan
A homebrew fan consisting of a small high speed 3 VDC motor 
and a toy airplane propellor was fabricated by Ron Klimas 
and tested on 2-1-99 in the Lab.  It was able to extinguish the flame from 
12" away within a few seconds.  The motor current however is nearly 3 amps, 
so a pair of fresh alkaline "D" cell batteries is barely enough to 
provide 30 seconds of operation. (The battery voltage sagged from 3.2V 
no-load to 2.3V under load).  The battery weight is also a concern.

	high speed DC motor
Radio Shack # 273-223  3 VDC motor, $0.99.

	toy airplane propellor
Amatos Hobby store (New Britain, CT) #712999, $0.89.

See next section "Analysis" to follow our design.

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