1. 1
FINAL REPORT
Spring 2014-2015
Team Number ECE-07
Unmanned Ground Vehicle Command and Control
Center
Team Members
Name: Department: Email:
Maria Enokian Electrical and Computer Engineering mce29@drexel.edu
DM Enakshi Dissanayake Electrical and Computer Engineering sed64@drexel.edu
John Ailor Electrical and Computer Engineering jra59@drexel.edu
Minh Vu Electrical and Computer Engineering mqv23@drexel.edu
Team Advisor
Name: Department: Email:
Dr. Christopher Peters Electrical and Computer Engineering cpeters@coe.drexel.edu

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ABSTRACT
Nuclear energy is one of the major energy sources in the United States and abroad, providing
19.4% of the United States annual energy and 10.9% globally [4]. For this reason nuclear power
plants are becoming more commonplace, with 99 active nuclear reactors in the United States
alone. Nuclear power plant accidents though uncommon, with only 33 major incidents since
1952 [5], have the potential to produce serious repercussions if proper safety measures are not in
place. Therefore, new systems must be implemented to improve the safety measures of nuclear
power plants especially since most have not been updated to the latest technological trends. [6]
Current radiation detection mechanisms use stationary sensors to detect any radiation activity
throughout nuclear power plants [1]. The problem with stationary sensors is that they are not able
to collect information for any coverage gaps between the sensors. In the case of a radiation leak,
this can cause delay for the response team since they do not immediately have all the information
they need. The proposed solution is a Command and Control Center (CCC). The CCC will
consist of a SMART Board™ and Unmanned Ground Vehicle (UGV). The UGV will take
advantage of its navigational capabilities. Using pre-determined routes, and user submitted
routes, it will traverse through the Nuclear power plant and fill in the gaps of the stationary
sensors. The UGV will have sensors attached such as a video camera and a Geiger counter,
which will relay the information back to a SMART Board™ for analysis. This solution will
assist emergency responders by providing them with additional information as quickly as
possible so as to better assess the situation.

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TABLE OF CONTENTS
ABSTRACT.................................................................................................................................... 2
LIST OF FIGURES ........................................................................................................................ 4
PROBLEM DESCRIPTION........................................................................................................... 5
DELIVERABLES........................................................................................................................... 6
PROPOSED SOLUTION............................................................................................................... 7
SERVER...................................................................................................................................... 8
UNMANNED GROUND CONTROL VEHICLE ..................................................................... 9
GEIGER COUNTER .................................................................................................................. 9
CAMERA.................................................................................................................................. 10
GPS RECEIVER....................................................................................................................... 10
ROCKET................................................................................................................................... 11
PROGRESS TOWARDS A SOLUTION..................................................................................... 12
WORK SCHEDULE / PROPOSED TIMELINE......................................................................... 15
INDUSTRIAL BUDGET ............................................................................................................. 16
SOCIETAL, ETHICAL, AND ECONOMIC IMPACTS............................................................. 18
SUMMARY / CONCLUSION..................................................................................................... 19
REFERENCES ............................................................................................................................. 20
APPENDIX A: DESIGN CONSTRAINTS SUMMARY........................................................... 22
SUMMARY OF THE DESIGN ASPECTS: ............................................................................ 22
STANDARDS AND REGULATIONS........................................................................................ 23
APPENDIX B: TECHNICAL SPECIFICATIONS...................................................................... 24
APPENDIX C : DATA SHEETS ................................................................................................. 25
APPENDIX D: RESUMES .......................................................................................................... 32

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LIST OF FIGURES
FIGURE 1: OVERALL SYSTEM DESIGN.................................................................................. 7
FIGURE 2: RC CAR DESIGN....................................................................................................... 9
FIGURE 3: GEIGER COUNTER CONNECTION TO ARDUINO............................................ 10
FIGURE 4: GPS CONNECTION TO RASPBERRY PI ............................................................. 11
FIGURE 5: RC CAR .................................................................................................................... 12
FIGURE 6: SCREEN SHOT OF THE UI.................................................................................... 13
FIGURE 7: PROJECT GANTT CHART..................................................................................... 15
FIGURE 8: DIRECT EXPENSES FOR 100 UNITS OF RC CARS ........................................... 16
FIGURE 9: INDIRECT EXPENSES............................................................................................ 16
FIGURE 10: PAYROLL EXPENSES.......................................................................................... 17
FIGURE 11: TOTAL INDUSTRIAL BUDGET.......................................................................... 17
FIGURE 12: OUT OF POCKET BUDGET................................................................................. 17

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PROBLEM DESCRIPTION
A lot of the stigma associated with nuclear energy stems from the fear of radiation exposure.
This fear is further heightened by the number of incidents that have occurred in the past. Even
though some of these incidents were well contained, and caused little to no environmental impact
or loss of life, some were not as well contained. One of the very recent incidents involved a
radioactive material leak in the Waste Isolation Pilot Plant (WIPP). WIPP is a repository for
radioactive waste [2]. In 2014 there was an incident where airborne radioactivity was found close
to the operating locations where waste was being deposited. Furthermore, in 1979, the Three
Mile Island nuclear meltdown was one of the worst nuclear accidents that have occurred in US
commercial nuclear power plant history [3]. Unknown amounts of radioactive gases were
released into the environment. All of these accidents could have resulted in major catastrophes. If
nuclear power plants had better data, they could better assess such situations and take action to
prevent a major catastrophe. Currently the nuclear power plant industry lacks new technology.
Nuclear power plants already have radiation detectors, which are dispersed as static sensing
networks throughout the power plant [1]. These sensor networks are limited by the number of
sensors which a nuclear facility can afford to put in place, and since they are static devices, they
are not able to dynamically change position to find out radiation levels in coverage holes. [7]
Hence, the proposed solution is to develop an Unmanned Ground Vehicle (UGV). This vehicle
will take advantage of its maneuvering abilities to capture geiger counter readings and live video
feed in the coverage holes of the static network. This UGV system will not only be used in
emergency situations, but also will be used in a normal operational environment for additional
data collection purposes. Using a central hub, with the UI built on a SMART Board™ interface,
the system is able to present the results and increase coverage area within the nuclear facility.
This increased coverage area should help to quell some of the fears associated with nuclear
power generation, or at least increase the number of safety precautions in place. Using a SMART
Board™ interface allows multiple users to interact with and view the interface at once, as
compared to a mobile device, or single computer monitoring system. The SMART Board™ also
provides touch screen capabilities for quick and readily available interactions. The included
SMART Pens™ allow users to annotate important information such as significant earthquake,
camera, or weather events.
Data collection alone is not enough to prevent the spread of radiation into the environment, and
does not help to prevent the initial release of radiation. Mapping out the affected area in minutes,
and without needing to endanger human lives, helps first responders better react to the situation.
The proposed solution may help trained professionals find the areas with the highest radiation
concentration, and may help to decrease the number of personnel that need to be exposed. This

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coupled with the speed that the system can be deployed will mean that the situation can be
contained as quickly as possible, leading to the least possible number of exposures.
DELIVERABLES
The deliverables of this project include a command control center that will use a SMART
Board™ to track and operate an Unmanned Ground Vehicle (UGV). The UGV will carry a
number of peripheral sensors, including a Geiger counter, GPS Sensor, and web connected video
camera. The data collected from these peripherals will be used to read and understand the
environment that the UGV has been deployed in, and collect information regarding the radiation
levels in that area. Other third-party sensors will be used to collect and display information
regarding barometric pressure data, as well as real time weather, and earthquake information.
The SMART Board™ will display information gathered from the UGV and third-party vendors
for analysis. Furthermore, the UGV project will be fully integrated with the BCC rocket group in
order to both launch a rocket and display an overlay of the data collected from the rocket.
The outcome of the project is a functioning proof-of-concept system which integrates all of the
various parts, including the UGV, SMART Board™ and the BCC rocket group’s project. The
SMART Board™ interface provides the ability to add and execute routes, as well as view
existing routes. The final version of this project gives the SMART Board™ users the ability to
send the UGV on a route, and receive back the Geiger counter information from that route.
Along with the functional UGV proof-of-concept, and the reliable communication between the
UGV and SMART Board™, the project deliverables also include a static server to facilitate
communication and store information.

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PROPOSED SOLUTION
The overall design consists of a modified remote control car with added peripheral sensors, an
IaaS provider, and SMART Board™. The user interacts with the system via the SMART
Board™, and views all of the data that is present from the the SMART Board™. The IaaS
provider acts as the centralized point where all data and information gets stored and forwarded
from. The IaaS provider also hosts and serves the interface on a web server. In this context, a
server or IaaS provider refers to the physical hardware that composes the server, and a web
server refers to the software running on the server in order to handle HTTP requests and web
socket connections. An overview of the project is shown in the figure 1 below, and illustrates the
basics of the data communication.
Figure 1: Overall System Design

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SERVER
The server being used is an Amazon Web Services (AWS) instance of an EC2 server running an
RHEL6 based operating system. The server is running several web servers, including an Apache
httpd web server, a custom node.js webserver and a custom Python webserver based on the Flask
library. Each individual web server provides custom functionality for the project, and was chosen
because of its ability to perform certain tasks. Other software running on the server includes
MongoDB, and a PHP interpreter.
The Apache httpd web server is able to handle large volumes of HTTP requests, but provides no
state information, and cannot provide web socket support. The Apache httpd web server is used
to provide an adapter for the MongoDB database which is running on the server. Information
regarding routes and peripheral data are passed through the web server to connect the UGV and
the SMART Board™ interface. The database adapter is developed in php, and acts as a stateless
connection to update documents in the MongoDB. MongoDB, unlike the traditional relational
database uses a JSON document format to store schema-less data. The schema-less nature of
MongoDB allows the system to expand more quickly and efficiently since changes to the
database structure are unnecessary. The database adapter is also able to provide authorization and
identification for security using an OAuth 2.0 system, although this was replaced in the final
design by a static access token which is built into the UI.
The custom node.js web server implements the web socket connections between the SMART
Board™ and the UGV. These connections are measured to pass data at 25 milliseconds per
message (compared to a standard 400 millisecond HTTP request), which makes them ideal for
sending execution commands from the SMART Board™ to the UGV. Data sent across the web
sockets is not stored in the MongoDB permanently, which means that there is no aggregation of
data in comparison to the product lifetime. The node.js webserver is also used to server the
SMART Board™ interface via HTTP request to the SMART Board™. Although node.js is not
as capable of handling large request volume, the system’s design calls for only a single HTTP
request to be processed through the SMART Board™ at any time.
The Python webserver is designed purely to function as a connection to the BCC rocket group’s
project, and was developed in collaboration with them. This web server handles only HTTP
requests, but was chosen because of its ability to provide states and memory to the requests.

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UNMANNED GROUND CONTROL VEHICLE
The Unmanned Ground Control Vehicle is built from a repurposed RC car, and is designed as a
housing and transport system for the peripheral devices. The body of the device contains a Wi-Fi
connected Raspberry Pi as the central processing unit. The Raspberry Pi is then connected via a
standard USB connection to an Arduino, which is used for motor control. Although the Arduino
itself is not capable of high amperage motor control, with the addition of two voltage regulators
that are included on a motor shield (a shield is a standard term for an Arduino accessory), the
Arduino is able to control the front, back, and turning motors of the original RC car. The
Raspberry Pi provides a much more powerful processor than the Arduino, and is therefore used
for the processing of information, route determination, and Wi-Fi connection. A custom route
determination algorithm is implemented on the raspberry pi using a node.js script. The same
script is also used to handle web socket connections, serial port connections, and read the GPS
data. On the Arduino is a C program that takes extensive advantage of the open source libraries
that are available for Arduino programs.
Figure 2: RC Car Design
GEIGER COUNTER
A Geiger counter is used to detect and report radiation levels in the surrounding area. The Geiger
Counter Radiation Detector kit was chosen for its ease of use and extraction of radiation data.
The Geiger counter works by detecting the intensity of gamma particles from the surrounding
area, which then get measured by triggering a signal. The signal being used is an interrupt signal.
An interrupt signal is an alert to a processor such as an Arduino that indicates that a high priority

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event has occurred and will immediately execute a block of code. In this case, this is to
increment the count of the interrupt signal. The interrupt signals can be counted within a certain
time period. Using the raw count of the interrupts within a given period of time, the amount of
radiation per hour or Sieverts per hour can be calculated.
The Geiger counter is connected to one of the input ports of the Arduino. A script has been set up
to count the interrupt signals and send the information to the Amazon Web Services (AWS)
server to display on the SMART Board™ from the Arduino. The Geiger counter’s interrupt pin
is connected to one of the GPIO pins on the Arduino. This is shown by the blue wire in Figure 3.
Figure 3: Geiger Counter connection to Arduino
CAMERA
A standard five megapixel camera has been added to the Raspberry Pi. The camera is used to
provide a real time video feed of the RC Car. The real time video will be displayed in the video
feed section of the SMART Board™ User Interface (UI). The protocol used to transmit the video
is the Real-Time Messaging Protocol (RTMP). This protocol is used because of its low-latency
communications and because it is widely supported by different platforms. This allows for a very
smooth video stream from the camera to the AWS Server.
GPS RECEIVER
A Global Positioning System (GPS) is a satellite based navigational system that provides the
location information and time of the RC Car. The Adafruit Ultimate GPS was chosen for this
project for its low cost and ease of use. This particular GPS is connected to the Raspberry Pi and
uses the Universal Asynchronous Receiver/Transmitter (UART) protocol to communicate the
information to the Raspberry Pi. The GPS will aid the RC Car in autonomously navigating to any

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predetermined point on a map. A real-time stream of the location information from the GPS will
be sent to the AWS Server to be displayed on the SMART Board™. The GPS also includes a
backup 5V battery in the case the Raspberry Pi cannot supply the power needed for the GPS. The
connections to the Raspberry PI are shown in Figure 4 below.
Figure 4: GPS connection to Raspberry Pi
The GPS is powered via the 5V port on the Raspberry PI (red) and is also connected to the
ground port (black). Since the GPS uses the UART protocol, the receiver port of the Raspberry
Pi is connected to the transceiver port of the GPS (yellow) and the transceiver port of the
Raspberry Pi is connected to the receiver port of the GPS (orange). This setup allows for
bidirectional communication between the two devices. Finally, an external antenna has been
added to the GPS to increase the satellite signal.
ROCKET
The rocket portion of this project is limited to the communication between the two systems. The
SMART Board™ sends an HTTP request to the python webserver discussed previously and
places a request for launch in the queue. Once the launch has been executed, a data stream back
to the webserver is initiated and sensor data is populated. The SMART Board™ web interface
then reads the entire array of values from the launched rocket, and displays them on the map
view in the form of an overlay.

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PROGRESS TOWARDS A SOLUTION
Before the previous report, a commercial RC car was stripped for its motors and casing. The
original controllers and electrical components of the RC car was replaced with a Raspberry Pi,
Arduino Uno, and Arduino Motor-Shield. Before this report, peripherals such as the Geiger
counter, Raspberry Pi camera, and Adafruit Ultimate GPS were added onto the RC car. The 6
AA 1.5 Volt batteries that were originally powering the RC car and its components have been
replaced with a 9.6 Volt nickel–cadmium battery. This allows the RC car to be recharged and
provides enough amperage to power all of the devices, without lowering the amperage to the DC
motors. The final top level design of all components within the RC Car is shown in Figure 2. Red
wires indicate power from the battery pack. The final RC car is shown in Figure 5. Although
aesthetic improvements to the vehicle housing could be made, aesthetic changes to the product
design though are not within the scope of the project since this design is purely a proof of
concept.
Figure 5: RC Car
A recursive algorithm has been designed to allow the RC Car to navigate an area based on a pre-
determined route. On the SMART Board™, the user is able to draw routes for the car to follow.
The user can add these routes by selecting the “+” button, and then point on the Google Maps
where the car will need to go. Each point creates a straight line from the previous point. The user
will be required to create a route in such a way that the RC Car will be able to navigate to each
vertex on the map in a straight line without any obstructions in the way for each vertex on the
map. Once the route has been selected, the server will send the coordinates of each point to the
Raspberry Pi, where it will calculate how to reach each point with assistance from the GPS. The
algorithm works by first obtaining the GPS coordinates of the RC Car and its directional vector.

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If the direction of the car is not aligned with the next point of the vertex, it attempts to turn itself
into the correct orientation. Once the orientation of the car is correct, the car will move forward
to the next point.
The SMART Board™ User Interface (UI) is where the user can interact with the system. The UI
allows functionality to create, store, and execute mission code for the RC Car. It also queries
information such as weather and earthquake data in real time. At the same time, it displays
information that the RC Car sends such as Geiger counter readings, RC Car location, and video
feed. For this term, the UI has been slightly updated. An earthquake map has been implemented
to show the recent earthquakes that have occurred around the area. It will also display a
notification to the right of the map which includes the time, location, and severity of the
earthquakes. The updated screenshot of the UI that includes the route selector, live video feed,
earthquake map, and earthquake events is shown below in Figure 6.
Figure 6: Screen shot of the UI
There has been progress to fully integrate the UGV project with the BCC Rocket Group. A
button to remotely launch the rocket has been implemented. It works by sending a “launch”
command to the rocket. Once the button has been pressed, the AWS server will wait for a
response back to confirm that the rocket has received the command. If it has not transmitted
anything back within a given time interval, the server will issue another “launch” command. This
process will repeat until either the rocket sends an acknowledgement or until the user presses the
button to cancel the launch.
At this point the deliverables of the project have been met, and the proof-of-concept has been
completed. This project has not produced a prototype ready model, since there are still a number
of improvements that could be made to increase usability. The proof-of-concept portion of the
project has been completed though, with the system able to perform and execute the functionality

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that was required. There was some work down to improve the aesthetics of the UI, however the
UGV was not given any aesthetic design considerations. Although the project needs a lot of work
to reach a production ready version, the scope of this project has been fulfilled.

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WORK SCHEDULE / PROPOSED TIMELINE
Figure 7: Project Gantt chart

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INDUSTRIAL BUDGET
The Direct Expenses table shows how much it costs to produce 100 UGV systems for 100 active nuclear
facilities in America.
Figure 8: Direct expenses for 100 units of RC Cars
This means that there is an $831,500 of direct expenses needed for a large industrial scale model.
However there are more than these expenses. There would be expenses for rent, liability and other
miscellaneous benefits. These are the indirect expenses below.
Figure 9: Indirect Expenses
As a final cost of payroll the full group in the team is listed. In the future it would be required to
recruit a marketing team. Also legal advice would be needed in the case of liability that may arise, but for
the time being, the estimate is kept within the minimum that is needed. Figures below show the payroll
expenses and the total industrial budget (see Figure 10 and 11).

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Figure 10: Payroll Expenses
Figure 11: Total Industrial Budget
OUT OF POCKET BUDGET
Figure 12: Out of pocket budget

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SOCIETAL, ETHICAL, AND ECONOMIC IMPACTS
This project is known to have a big societal impact. This is due to being able to get a very
quick response for nuclear radiation data without a person being there. People now have a safer
alternative to hazmat suits, because they don’t even need to place themselves in the situation.
Since this allows nuclear facilities to be safer, people will have more faith in having a nuclear
power plant as a main source of electricity. This will create more jobs in the industry causing a
huge economic impact.

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SUMMARY / CONCLUSION
In the spring term, the goal of the project was to get the communications between the
AWS Server, Raspberry Pi, and Arduino working. For this term, the remaining things to
complete the project were to attach the peripherals such as the camera, GPS, and Geiger Counter
onto the Raspberry Pi, send peripheral data to the AWS Server to display, and integrate the
project with the rocket senior design group to send/receive data to/from the rocket. Finally, the
algorithm to autonomously traverse an area has been developed and implemented into the RC
Car.

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REFERENCES
[1] Waset.org, 2015. [Online]. Available: http://waset.org/publications/8827/radmote-a-mobile-
framework-for-radiation-monitoring-in-nuclear-power-plants. [Accessed: 10- May- 2015].
[2] Wipp.energy.gov, 'Waste Isolation Pilot Plant', 2015. [Online]. Available:
http://www.wipp.energy.gov/wipprecovery/accident_desc.html. [Accessed: 15- May- 2015].
[3] Nrc.gov, 'NRC: Backgrounder on the Three Mile Island Accident', 2015. [Online]. Available:
http://www.nrc.gov/reading-rm/doc-collections/fact-sheets/3mile-isle.html. [Accessed: 15- May-
2015].
[4] "US Nuclear Power Plants." U.S. Nuclear Power Plants. <http://www.nrc.gov/info-
finder/reactor/> Web. 19 May 2015.
[5] Rogers, Simon. "Nuclear Power Plant Accidents: Listed and Ranked since 1952." The
Guardian. Web. 08 March 2011.
[6] Herdman, Rodger C. Aging Nuclear Power Plants: Managing Plant Life and
Decommissioning. Washington, DC: U.S. Congress, Office of Technology Assessment, 1993.
Princeton, 19 Mar. 2007. Web.
[7] Kumar, Nitin, Dimitrios Gunopulos, and Vana Kalogeraki. "Sensor Network Coverage
Restoration." - Springer. N.p., n.d. Web. 19 May 2015.
[8] "AWS | Amazon EC2 | Instance Types." Amazon Web Services, Inc. N.p., n.d. Web. 19 May
2015.
FAA REFERENCES
[9].Faa.gov, 'Model Aircraft Operations', 2015. [Online]. Available:
https://www.faa.gov/uas/model_aircraft/. [Accessed: 22- Feb- 2015].
[10]. dpreview.com, 'FAA proposes regulations for commercial drone usage', 2015. [Online].
Available: http://www.dpreview.com/articles/9850440099/faa-proposes-regulations-for-
commercial-drone-usage. [Accessed: 22- Feb- 2015].

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SMART BOARD™ REFERENCES
[11] Smarttech.com, 'For software developers - SMART Technologies', 2015. [Online].
Available:
https://smarttech.com/About%20SMART/About%20SMART/Working%20with%20SMART/Joi
n%20our%20ecosystem/For%20software%20developers. [Accessed: 22- Feb- 2015].
[12]M. Khan, 'SMART Board SDK - Mo Khan', Mokhan.ca, 2015. [Online]. Available:
http://www.mokhan.ca/csharp/designpatterns/oop/2010/04/26/smart-board-sdk.html. [Accessed:
22- Feb- 2015].
[13] Nspe.org, 'Code of Ethics | National Society of Professional Engineers', 2015. [Online].
Available: http://www.nspe.org/resources/ethics/code-ethics. [Accessed: 22- Feb- 2015].

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APPENDIX A: DESIGN CONSTRAINTS SUMMARY
Team Number: ECE-07
Project Title: Unmanned Ground Vehicle Command and Control Center
SUMMARY OF THE DESIGN ASPECTS:
The purpose of the project is to provide a UGV as well as a command and control center
to detect radioactive material around a nuclear facility. The primary purpose of this project is to
put the UGV into possibly dangerous areas instead of a human being in the case of radioactivity.
The design is made to be as user friendly as possible. The plotting of the UGV is used by a web
page using HTML5, JavaScript, and CSS. The UGV is controlled through a Raspberry Pi, which
will have commands sent through the SMART Board™. This will allow the operator to easily
install the product. The command control station should be easy to control the UGV and provide
the data necessary.
DESIGN CONSTRAINTS:
Economic: As outlined in the budget, it can be seen how each piece of this project costs a certain
amount. The group members have purchased these items and equally shared the expenses among
each other.
Manufacturability: Additional sensors and boards will have to be attached to the UGV in order
for the final goal to be achieved. The payload of the UGV should be taken into consideration in
order for it to navigate correctly. This can be scaled in offshore facilities to lower the cost of
manufacturing the product.
Sustainability: It will change the way nuclear facilities and other fields of study obtain
information.
Environmental: The UGV will run off AA batteries. There is no waste or decomposition.
Social: This will rally for more support for nuclear energy as a safe method of obtaining power.
Ethical, health, and safety: Real time and accurate radiation data is required.
Political: This project must meet with government regulations

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STANDARDS AND REGULATIONS
Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications for
Information technology--Telecommunications and information exchange between systems Local
and metropolitan area networks (LAN). IEEE Standard 802.11, 2012.
Ethernet, IEEE Standard 802.3, 1985 (Updated 2013).
Floating-Point Arithmetic, IEEE Standard 754, 1985 (Updated 2008).
Third International Conference on Communications and Mobile Computing (CMC)-- Improving
Data Transmission in Web Applications via the Translation between XML and JSON. IEEE
Standard 10.1109/CMC.2011.25, 2011

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APPENDIX B: TECHNICAL SPECIFICATIONS
The specs of the project goes as follows.The Horsepower of the RC car is 0.20. The payload of
the entire unit totals up to 3021.897 grams (8 lbs), also, it can hold up to 1665.13 grams of extra
weight, without damaging the RC car. The payload analysis or total weights of each item in
respect to the vehicle can be shown on figure 6.
Payload Analysis
The delay of the RC car to the Raspberry Pi is negligible, since they are connected directly to
each other, but the delay from Raspberry Pi to the AWS is 32 milliseconds.Finally the delay
from the camera to AWS to 2 seconds. This is due to the fact that AWS web servers are hosted in
other parts of the world. The system requirements of the server is shown on the figure below.
AWS t2.microserver [8]

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APPENDIX C : DATA SHEETS
ARDUINO UNO R3 BOARD WITH ATMEGA328P MICROCONTROLLER,
ATMEGA16U2 AND USB
● Arduino UNO R3 Board
● ATmega328P Microcontroller and ATmega16U2 Microcontroller
● Includes new pin configuration (SCL, SDA, IOREF)
Product Description
The Arduino Uno is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz crystal
oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It contains
everything needed to support the microcontroller; simply connect it to a computer with a USB
cable or power it with a AC-to-DC adapter or battery to get started
Product Details
● Product Dimensions: 3 x 0.8 x 2.5 inches
● ASIN: B006H06TVG
● Item model number: BPSSC13165
RASPBERRY PI 5MP CAMERA BOARD MODULE
● 5 megapixel native resolution sensor-capable of 2592 x 1944 pixel static images
● Supports 1080p30, 720p60 and 640x480p60/90 video
● Camera is supported in the latest version of Raspbian, Raspberry Pi's preferred operating
system
Product Description
The Raspberry Pi Camera Module is a 5 megapixel custom designed add-on for Raspberry Pi,
featuring a fixed focus lens. It's capable of 2592 x 1944 pixel static images, and also supports
1080p30, 720p60 and 640x480p60/90 video. It attaches to Pi by way of one of the small sockets
on the board upper surface and uses the dedicated CSi interface, designed especially for
interfacing to cameras. 5 megapixel native resolution sensor-capable of 2592 x 1944 pixel static
images Supports 1080p30, 720p60 and 640x480p60/90 video Camera is supported in the latest
version of Raspbian, Raspberry Pi's preferred operating system The board itself is tiny, at around

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25mm x 20mm x 9mm. It also weighs just over 3g, making it perfect for mobile or other
applications where size and weight are important. It connects to Raspberry Pi by way of a short
ribbon cable. The sensor itself has a native resolution of 5 megapixel, and has a fixed focus lens
on-board. In terms of still images, the camera is capable of 2592 x 1944 pixel static images, and
also supports 1080p30, 720p60 and 640x480p60/90 video. The camera is supported in the latest
version of Raspbian, Raspberry Pi's preferred operating system. 1.4 µm X 1.4 µm pixel with
OmniBSI technology for high performance (high sensitivity, low crosstalk, low noise) optical
size of 1/4" automatic image control functions: - automatic exposure control (AEC) - automatic
white balance (AWB) - automatic band filter (ABF) - automatic 50/60 Hz luminace detection -
automatic black level calibration (ABLC) programmable controls for frame rate , AEC/AGC 16-
zone size/position/weight control, mirror and flip, cropping, windowing, and panning digital
video port (DVP) parallel output interface 32 bytes of embedded one-time programmable (OTP)
memory
Product Details
● ASIN: B00E1GGE40
● Item model number: 100003
GEIGER COUNTER RADIATION DETECTOR DIY KIT ARDUINO COMPATIBLE
SOLDERED BOARD
● Compatible with 400V and 500V Geiger Tubes
● Supply Current: 30uA-60uA (0.03mA-0.06mA) at background radiation
● Arduino, PIC, AVR, MSP430 Compatible
● High Reliability up to 1mSv/h (1000uSv/h)
● TRRS Output Connector for
Product Features
Technical Details
● Radiation Logger Compatible (require Arduino UNO or similar)
● Supply Voltage: 4.5-5.5V
● Several months operating time on background radiation level
● Improved HV stability up to 1000uSv/h radiation load
● More supported tubes, 400V and 500V range select

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● Tube over voltage protection, limiting HV spikes
● Wide compatibility with different MCU for software developers
● Geiger Bot compatible
Product Description
This is third edition of Arduino Compatible DIY Geiger Kit developed by RH Electronics. The
kit is simple radiation detector board that provides visual and audio signalization of each Geiger
event. The PCB allows installation of SBM-20 or LND-712 tubes. Many others GM tubes
models can be connected with wires to the board. 400V or 500V tube voltage range is selected
with jumper. In addition, the board has wide compatibility with different microcontrollers and
Apple devices. If you are software developers, you can integrate the board to your environment
with your favorite microcontroller added. The Geiger kit has flexible options for powering. Since
the board consumes very tiny current at background, all available options are good for your
implementation with the final project. The default option is to power the kit with 4x Ni-MH
batteries to get 4.5-5.5 supply voltage range. The PCB has 3 pins for communication with MCU:
INT, GND, 5V. You can power up the kit from 5V Arduino board directly. Or, if you use
batteries for Geiger Kit, you have to connect only 2 pins to Arduino: INT and GND. The kit is
compatible with our "Radiation Logger" software, you can connect it via Arduino SPI to the
computer. The kit does not include a Geiger Tube, batteries or any enclosure, you need to supply
your own! But it excellent DIY project to build radiation detector board with wild compatibility
and great electrical specifications. We supply link to download user manual PDF after your
purchase.
Product Information
Technical Details
Part Number RH-K-GK-2-AS
Origin Israel
Item model number RH-K-GK-2-AS
Color Blue

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Material Printed Circuit Board
Power Source DC
Item Package Quantity 1
Special Features Radiation Logger Compatible (require Arduino UNO or
similar), Supply Voltage: 4.5-5.5V, Several months
operating time on background radiation level, Improved HV
stability up to 1000uSv/h radiation load, More supported
tubes, 400V and 500V range select, Tube over voltage
protection, limiting HV spikes, Wide compatibility with
different MCU for software developers, Geiger Bot
compatible
Batteries Required? Yes
Battery Cell Type NiMh
SBM-20 GEIGER MULLER TUBE
Specifications for this item
Brand Name SBM-20
Part Number SBM-20
UNSPSC Code 41122804

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Product Features
● The most reliable and long-lasting Geiger Muller tube which lasts for 1900 years @ 20CPM
(2*1010)!
● SBM-20 Geiger Muller tube detects hard beta, Gamma, and X-rays. Gas Filling: Ne + Br2 +
Ar.
● Operating Voltage Range (volts): 350~475. Cathode Material: Stainless Steel, 50 mkm
● Length: max 108mm. Diameter: max 11mm. Weight: 6.9 gram
WATERPROOF GPS ACTIVE ANTENNA 28DB GAIN
● Waterproof Active GPS antenna with SMA connector
● Magnetic base allows you to conveniently attach it to to the roof of your car.
● 28 dB of gain with its built in LNA
● Cable length: 3 meters
● DC Voltage: 3V to 5V
Product Description
Boost your signal with this waterproof GPS external antenna with built in low noise amplifier
(LNA). This GPS antenna provides 28 dB of gain with its built in LNA. The industry standard
SMA connector will work with most GPS systems and the magnetic base allows you to
conveniently attach it to to the roof of your car.
1. Dielectric Antenna
Center Frequency: 1575.42+-3 MHz
V.S.W.R: 2:01
Bandwidth: ±5 MHz
Impedance: 50
Peak Gain: > 3dBic Based on 7x7cm ground plane
Gain Coverage: >-4dBic at -90 <0 <+90 (over 75 Volume)
Polarization: RHCP
2. LNA/Filter
LNA Gain Without cable: 28dB Typical
Noise Figure: 2.0dB
Filter Out Band Attenuation: (f0=1575.42MHz)
7dB Min f0+/-20MHz;
20dB Min f0+/-50MHz;

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30dB Min f0+/-100MHz
V.S.W.R: <2.0
DC Voltage: 3V to 5V
DC current: 7-10MA
3. Mechanical
Weight: 60 gram
Size: 45x38x15mm
Cable: RG174
Connector: SMA
Mounting: Magnet base
Housing: Black
4. Environmental
Working Temp: -40~+105
Waterproof test: 4 hours under the tap, let the water rush over the housing;
Vibration: Sine sweep 1g (0-p) 10 ~ 50 ~ 10Hz each axis
Humidity: 95% ~ 100% R
Product Details
● Product Dimensions: 4.4 x 2.8 x 0.8 inches
ADAFRUIT ULTIMATE GPS BREAKOUT - 66 CHANNEL W/10 HZ UPDATES -
VERSION 3
● -165 dBm sensitivity, 10 Hz updates, 66 channels
● 5V friendly design and only 20mA current draw
● Internal patch antenna + u.FL connector for external active antenna
● Built-in datalogging
Technical Details
● Brand Name: Adafruit
Product Description
This is the ultimate GPS module for your Raspberry Pi, Arduino or other microcontroller
project! The breakout is built around the MTK3339 chipset, a no-nonsense, high-quality GPS
module that can track up to 22 satellites on 66 channels, has an excellent high-sensitivity receiver

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(-165 dB tracking!), and a built in antenna. It can do up to 10 location updates a second for high
speed, high sensitivity logging or tracking. Power usage is incredibly low, only 20 mA during
navigation. Includes an ultra-low dropout 3.3V regulator so you can power it with 3.3-5VDC in,
5V level safe inputs, ENABLE pin so you can turn off the module using any microcontroller pin
or switch, a footprint for optional CR1220 coin cell to keep the RTC running and allow warm
starts and a tiny bright red LED. The LED blinks at about 1Hz while it's searching for satellites
and blinks once every 15 seconds when a fix is found to conserve power. If you want to have an
LED on all the time, we also provide the FIX signal out on a pin so you can put an external LED
on. Two features that really stand out about version 3 MTK3339-based module is the external
antenna functionality and the the built in data-logging capability. The module has a standard
ceramic patch antenna that gives it -165 dB sensitivity, but when you want to have a bigger
antenna, you can easily add one. Comes with one fully assembled and tested module, a piece of
header you can solder to it for breadboarding, and a CR1220 coin cell holder. Battery not
included. Many tutorials available at Adafruit's website.
Technical Details
Item Weight 0.3 ounces
Product Dimensions 3 x 2.5 x 0.2 inches

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APPENDIX D: RESUMES

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