Recent Visitors

Dr. Arvind Raman, Purdue University

Dr. Sachin Goyal, Mechanical Engineering, University of Michigan

Prof. Brian Mann, Mechanical & Aerospace Engineering, University of Missouri

Robert J. Webster III, Ph.D. Candidate in Mechanical Engineering, Johns Hopkins University

Prof. Scott David Kelly, Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign

Dr. S. C Saxena, Director, IIT Roorkee

Jan 2007-Professor Devendra P. Garg honored in New Delhi, India, by being presented the Hind Rattan (Jewel of India)
Award by the Non-Resident Indians (NRI) Welfare Society of India.

Oct 2006 - Acquired 8 Khepera II robots from K-team corp.

Fall 2006 - Abhishek receives his MS degree in Mechanical Engineering

Fall 2005 - Abhishek joins the RAMA Lab as a MS student and Research assistant

Jan 2005 - Brian Dieckmann joins the RAMA Lab as Pratt Undergraduate Fellow

Nov 2004 - Dr. Manish Kumar presented three jointly coauthored research papers at the 2004 IMECE in Anaheim, CA

Nov 2004 - Dr. Manish Kumar joined the RAMA Lab as a Post doctoral Associate

Oct 2004 - Dr. Garg received the Scientific Research and Leadership Award at the 2004 Heritage India Festival

Sept 2004 - Dr. Garg delivered invited lectures on robotics at the Indian Institute of Technology/Roorkee and Indian Institute of Technology/ Delhi, India

Aug 2004 - Ram Parimi recieved his M.S. degree in Mechanical Engineering

July 2004 - Paul Nesline is the new webmaster for the RAMA LAB

June 2004 - Dr. Prem Vrat, Director of Indian Institute of Technology Roorkee visits the lab

June 2004 - Dr. Masayoshi Tomizuka, Director of the Dynamic Systems and Control Program at NSF visits the lab

Summer 2004 - Nsi Obotetukudo from Case Western Reserve University joined the RAMA Lab for 10 weeks under the NSF/REU Program

Summer 2004 - Adam Schmelzer joined the RAMA Lab as Research Assistant

May 2004 - Manish Kumar received his Ph.D. degree in Mechanical Engineering

May 2004 - Congratulations to Brian Schaaf and Chris Dillenbeck on their graduation with BSE degrees

April 2004 - William Chandler Salinger joins the lab as an Intern for four weeks

April 2004 - Ram Parami presented "Intelligent Control for Mobile Robot Navigation" in the Graduate Seminar Series

Mobile Robot Coordination Project


The goal of the MOBOTS project is to apply the knowledge obtained in the NSF sponsored fixed base multiple robot research to the realm of autonomous mobile agents. These mobile agents should be capable of discerning unknown environments and working in conjunction with one another to develop a world model. Classic mobile robot research topics such as path planning, localization and sensor fusion will be investigated with specific applications to coordinated behavior. The field of mobile robotics provides students with many exciting new areas of research and design. The MOBOT research at the Duke University RAMA Lab is aimed at developing a software system for coordinating the activities of autonomous mobile robotic systems and to improve the capabilities of mobile platforms. Current research includes vision and sonar based navigation, obstacle avoidance, vision based object recognition, and communications.

The MOBOT platform is a standard Zargos Mobile base. The base is propelled through the use of DC servomotors and a TI H-bridge. Speed is varied though PWM, controlled by either a Motorola 68HC11 or Brainstem GP module. Power is supplied via a 12 volt 7.5 AH SLA rechargeable battery.

MOBOT Sensors:

ADS Technologies Pyro 1394 WebCam

Color CCD: 640x480 @ 30 FPS
Firewire Interface

Acroname GP2DO5 IR detector

VCC = 4.4 – 7 (V)
Controlled by Vin, Data stored Vout

Deventech SRF04 Ultrasonic range finder

Vcc = 5V
Pulse trigger input and Echo output

Polaroid 6500 series sonar module

4.5-6.8 Vcc
Requires Vcc, Ground, INIT, TRANSMIT, BLINK, BINH, Blanking, and ECHO signals.

MOBOT Processing/Control Hardware:

Compaq Persario 1700T Laptop

802.11b Cisco Wireless Ethernet (11 mb)
USB/ Firewire/ Serial/ Parallel Commuications

Handyboard V1.21 from Acroname

Motorola 68HC11 Microprocessor
2x20 LCD Screen

BrainStem – GP Module (Donated by Acroname)

Servo Controller
Phillips I2C semiconductor interface

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Any questions about Duke Robotics? Email Abhishek