Charlie-1: PC-controlled Ultrasonic Range Finding

• This project was for my Master of Engineering degree, at Newcastle upon Tyne, England.

Related Papers

• Charles Allen and Richard West, "Collision Avoidance Tests Using the Charlie Trike Vehicle" , in Proceedings of the SPIE - The International Society for Optical Engineering, vol.1825, p.549-60, 1992.

Further Details

• Here are some pictures of the Charlie 1 robot with my ultrasonic range finding circuitry.
  
• The range finder featured a 40Khz positive feedback bandpass filter, h-bridge, 8051 microcontroller, on-board EPROM and serial connection to a PC.

The Charlie 1 robot with my ultrasonic range finding ring.
	View looking down at the top of Charlie 1, showing the internals including the ultrasonic range detection circuitry.
Prototype version of my ultrasonic detection ring, featuring a bank of 16 40Khz transducers. Thanks to friends at Davis Engineering for the CNC machining of the steel mounting ring.	The final PCB with mounting bracket for the Charlie 1 robot. This board was built by myself with the help of technicians at Newcastle University.