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Global Specialties ARX-MSP Manual
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Global Specialties ARX-MSP Manual

Minisweeper kit
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ARX-MSP
Minesweeper Kit
99 Washington Street
Melrose, MA 02176
800.517.8431
TestEquipmentDepot.com

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Summary of Contents for Global Specialties ARX-MSP

  • Page 1 ARX-MSP Minesweeper Kit 99 Washington Street Melrose, MA 02176 800.517.8431 TestEquipmentDepot.com...
  • Page 2 1 Basic description of the design The minesweeper extension will enable the ASURO robot to detect metallic objects underneath the halved Ping-pong ball-glider. This will allow you – of course within the scope of the robot's and the kit's possibilities - to develop the scenario of a robotic mine detector respectively treasury hunter or a simplified version of a detector and tracer for cables, reinforcing bars and I-beams.

  • Page 3: Constructional Details

    To achieve this goal, the design controls the capacitor's current proportionally to the capacitor's voltage. In this system the active element is the operational amplifier IC1A in a non-inverting amplifier circuit with resistor R2 and the trimmer resistor TR1. This circuit will amplify the capacitor's voltage at an adjustable rate of 1 up to 3, which will increase the current into resistor R1 proportionally to the voltage at C1.
  • Page 4 Figure 2: coil-carrier, complete Figure 3: coil-carrier, halved In order to fit for our purposes, we will have to split up the carrier with a saw. A suitable saw for this is a fine-tooth hacksaw. We will have to remove one chamber by sawing the other chamber in the middle.
  • Page 5 You may also cut the wire, but do not forget to reserve a few centimetres at both sides. The wire- endings have to be directed into one direction and are not allowed to pass through the hole in the coil-carrier (see fig. 5). Fig.
  • Page 6 Fig. 7: Coil with capacitor Next, we proceed with the ready-made cables. The dual cable has been dimensioned at 70 mm, stripped, twined and tinned at the cable-endings. Solder the cable-endings directly entwined to the capacitor-endings with the endings and pointing in the same direction as shown in fig. 8. Polarity is irrelevant.
  • Page 7 Attention: If ASURO has not been prepared for assembling an extension PC-board, you will have to postpone attaching the ping-pong ball until the preparation for the extension board has been completed. Fig. 9: Coil - attached to the ping-pong ball 2.3 Inserting the extended plug sockets Before assembling the components to the PC-board you will have to insert the extended plug sockets.
  • Page 8 Fig. 10: Inserting the Extension-PCB b) ASURO already provides extended plug sockets for the extension board The two- and three-poled plug elements are to be inserted into the plugs at the ASURO-PC-board (see fig. 10), on top of which you attach the extension board. The pins will be protruding from the PCB.
  • Page 9 2.5 Assembling the Printed Circuit Board After placement of the extended plug sockets (and eventually the plug arrays as well), you may remove the PCB and complete the assembly phase. According to the component placement drawing (see fig. 12) you are advised to proceed the following way: Up to R7 all resistors are to be placed upright –...

  • Page 10: Start-Up Procedure

    Fig. 13: Completed and placed Extension Board Note: Initially the terminals VCCOUT1/2, GNDOUT1/2 and ADC2OUT/ADC3OUT will not be needed. Additionally to the fixing hole at the PCB, these terminals may later be used to connect two distance sensors in a triangulation-sensor-system. This will allow the ASURO to apply an autonomous navigation system and to be searching metallic objects as well.
  • Page 11 while (count72kHz<100) { // Detect low level if ((PIND & (1<<2)) == 0) oscillation = TRUE; // If oscillator is running, no metal object is within // range, so LED should be off if (oscillation) FrontLED(OFF); else FrontLED(ON); return 0; This program will switch off the LED as soon as the oscillator is working.
  • Page 12 while(1) freq=0; for (i=0; i<100; i++) { count72kHz=0; // This counter is incremented in timer interrupt FrontLED(OFF); while (count72kHz<72) { // Detect level change newlevel = PIND & (1<<2); if (oldlevel != newlevel) { oldlevel = newlevel; freq++; FrontLED(ON); sprintf(s,"%5d\n\r",freq); SerWrite(s,7);...