Bedlam by Mike Sergi

Bedlam is a robot that our group (3 people) designed and built for the
Carnegie Mellon University Mechatronics Design course. The project was
to build a mechanism to detect and mark 6" square metal plates (fake 
land mines) in a 15' x 15' field. The robot was not allowed to touch 
the "land mines."

I was the mechanical engineer in the group (with 2 electrical eng.),
so I designed and built the robot. The body was constructed out of
aluminum and the motors used were beefy motors from an r/c truck. It
used what I called a 'dual-differential' for driving and steering. See
the report if you're curious about it (the main reason I did it was to
do something different, since other groups were using the standard
differential steering, but it simplified some control issues). We used
4 metal detectors to sense the plates, a sonar module that was panned
using a servo, and I made a dropper mechanism out of lexan and pvc 
pipe that would drop plastic disks by a servo.

The picture is not the final robot.. we used different metal detectors,
there was an electronic compass mounted on a mast in the center of the
robot, and the dropper mechanism is not in the picture (it hadn't been
made when the picture was taken).

The name Bedlam came from the r/c car called Bedlam we hacked for the
wheels and tracks (we didn't use any of the other parts for this 
project). Bedlam was powered by a 68hc16 board, with a basic stamp 
driving the servos for the sonar and dropper.

Our final report is online in html format at:

Feel free to check it out, and email me at if you
have any questions or comments.


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