Goal of the Exploration Device

The goal of our exploration device is to safely collect meaningful environmental information from hazardous or inaccessible environments while minimizing operator risk. The Amphibot V1 is designed to scout unknown terrain, provide real-time visual and sensor feedback, and communicate system state clearly to the operator. The device emphasizes modularity, rapid deployment, and observable cause-and-effect interactions between user input and system response.

On top of actually working as an explorer, it's also meant to teach and demonstrate embedded systems design. Using UART-connected modular PCBs, sensor–actuator feedback loops, and straightforward human–machine interfaces, the project lets anyone watching easily understand how embedded systems sense their environment, make decisions, and take action in real-world situations.

Intended Audience

Real-time users break into two key groups.

Engineering instructors, peers, and external reviewers who evaluate the system during the EGR314 Innovation Showcase. These users focus on system architecture, communication standards, robustness, and how effectively the design meets technical constraints.
Real-world end users such as emergency responders, industrial inspectors, or search-and-rescue teams who deploy the Amphibot V1 in hazardous environments such as flooded buildings, chemical spills, or collapsed structures. For them, reliable real-time intelligence (gas levels, obstacles, water depth) with minimal training is critical, enabling fast, informed decisions without risking human lives.

A secondary audience includes non-technical showcase visitors. For this group, the device provides obvious visual and behavioral cues (bright LEDs, smooth motion responses), intuitive control, and immediate feedback. As recommended by Bitgood’s Suggested Guidelines for Designing Interactive Exhibits, it accommodates a wide range of user familiarity by minimizing instructions, making correct operation visually apparent, and supporting safe use by non-experts.

Brainstorm Process Overview

During our brainstorming session, we explored many different ideas related to building an exploration device. We defined an exploration device as any tool or system that can collect data from environments that are unknown, dangerous, or difficult for humans to access. Early on, we discussed whether our project should be a single standalone device or part of a larger system deployed from a “mothership,” such as a drone, rover, boat, or satellite. As we talked through these options, we quickly realized that our team size of three, limited budget, and overall project scope made very large or complex systems unrealistic for this semester. This pushed us toward ideas that are achievable now but still leave room for future expansion.

We considered several possible environments for exploration, including underwater areas, volcanic regions, and caves. In all of these cases, the common goal was to collect data from places where sending a human would be unsafe or impractical. One idea that consistently stood out was modularity. Instead of building one large system that does everything, we explored using multiple smaller exploration units. This approach could allow better coverage of an area, provide backup if one unit fails, and support teamwork between devices for data collection and mapping.

As our ideas developed further, we started refining the modular approach into more specific system concepts. One idea involved a water exploration setup with multiple stages or detachable subsystems. In this concept, nearby devices could communicate with each other using short-range methods such as sonar, while a surface unit would send collected data back to a mothership using Wi-Fi. At the same time, we explored a hybrid drone/rover concept inspired by R6, designed to work on both land and water. This concept focused on interchangeable components like wheels, propulsion systems, cameras, sonar, and wireless communication to increase flexibility while still being realistic to prototype.

Throughout the brainstorming process, several design priorities stayed consistent across all concepts. We wanted to reduce the amount of direct human involvement, improve the accuracy and reliability of the data collected, support automation where possible, and make sure the system could be upgraded over time. Rather than building a one-time prototype, our goal was to create a platform that could improve through testing, modular hardware changes, and sensor-driven data collection. These priorities, along with ease of use and the need to demonstrate meaningful robotics and automation, led us toward an MVP-style approach: building a first version that fits within our constraints while still allowing future expansion.

Generating Ideas

Ease of Deployment & Initial Use

Need / Requirement	Feature	Details
Ease of Deployment & Initial Use	Throwable chassis	Can be tossed into hazardous areas to start a mission quickly.
Ease of Deployment & Initial Use	Compact body	Fits through narrow openings and tight spaces.
Ease of Deployment & Initial Use	One-button power on	Starts up with a single press—no complicated steps.
Ease of Deployment & Initial Use	Auto-leveling system	Stabilizes itself after landing so it’s ready to drive.
Ease of Deployment & Initial Use	Reset-to-home mode	Returns to a default ready state for the next operator.
Ease of Deployment & Initial Use	Magnetic docking pad	Snaps onto a dock for quick pickup, storage, and charging.
Ease of Deployment & Initial Use	Foldable components	Folds down to reduce size during transport.
Ease of Deployment & Initial Use	Lanyard-assisted drop	Lets you lower it safely into shafts or openings.
Ease of Deployment & Initial Use	Pre-armed standby mode	Wakes up instantly after deployment with no extra setup.

Mobility & Terrain Adaptability

Need / Requirement	Feature	Details
Operate confidently on land	Single-handed operation	Usable with one hand—helpful in stressful or constrained situations.
Move reliably on flat surfaces	Wheeled propulsion	Simple, dependable driving on smooth terrain.
Maintain traction on debris	Tank-style tracks	Grips better on rubble, sand, and uneven ground.
Maneuver in tight spaces	Omni-directional wheels	Can move sideways for precise positioning.
Travel through water when needed	Flip-out fins	Deploys fins to swim across water sections.
Sustain water propulsion	Propeller drive	Provides steady forward motion in water.
Work across land and water	Paddle wheels	A dual-purpose option that handles both surfaces.
Recover after flips	Self-righting body	Automatically returns upright if it rolls over.
Clear obstacles	Adjustable ride height	Raises the body to get over bumps and edges.
Protect against impacts	Shock-absorbing shell	Helps protect internal parts during drops and collisions.
Adapt to different terrain	Modular wheel attachments	Swap wheel/track modules based on the environment.
Handle uneven ground	Articulated chassis	Flexes to keep contact and control on rough terrain.
Stay stable while moving	Low center of gravity design	Reduces tipping risk during turns and impacts.

Sensors & Environmental Awareness

Need / Requirement	Feature	Details
See what the device sees	FPV camera	Streams live video back to the operator.
Maintain visibility in darkness	Low-light camera	Keeps the view usable in dim or dark areas.
Get a wider view of the scene	Wide-angle lens	Covers more area so you miss less at the edges.
Detect hazardous atmospheres	Gas sensor	Flags dangerous gases in the environment.
Spot heat-related risks	Temperature sensor	Identifies hot zones or thermal hazards.
Understand moisture conditions	Humidity sensor	Helps detect damp, wet, or condensation-prone areas.
Sense depth underwater	Pressure/depth sensor	Measures water depth during submerged operation.
Track motion and orientation	Inertial Measurement Unit (IMU)	Reports tilt, movement, and orientation changes.
Catch leaks early	Water intrusion sensor	Alerts if water enters the chassis.
Detect collisions	Impact detection	Registers bumps or crashes for awareness and logging.
Detect unstable ground	Vibration sensor	Helps identify shaky surfaces or rough travel conditions.
Combine signals into one picture	Sensor fusion	Blends sensor data to improve reliability.
Summarize risk level	Hazard scoring algorithm	Rolls multiple readings into a simple danger indicator.

Controls & Human Interaction

Need / Requirement	Feature	Details
Make controls feel intuitive	Direction-mapped buttons	Buttons match natural movement directions.
Use familiar inputs	Joystick input	Game-style control that most users already understand.
Reduce training time	Game controller support	Works with common controllers to lower the learning curve.
Operate remotely	Smartphone app	Wireless control from a phone or tablet.
Control from any device	Web-based dashboard	Runs in a browser across platforms.
Provide tactile control	Dedicated handheld controller	Physical buttons and feedback for confident operation.
Choose precision or speed	Speed modes	Switch between careful movement and faster travel.
Move safely in tight spaces	Crawl mode	Slow, controlled driving for confined areas.
Stop instantly in emergencies	Emergency stop	Immediate shutdown when something goes wrong.
Always allow human control	Manual override	Operator can take back control at any time.
Prevent accidental commands	Control lockout	Locks inputs to avoid unintended movement.
Assist navigation	Waypoint navigation	Moves to set points with reduced operator workload.
Keep safe distance from walls	Follow-wall mode	Maintains spacing from surfaces automatically.

User Cues & Feedback (Easy of Use)

Need / Requirement	Feature	Details
Make system status obvious	LED indicators	Shows power and current state at a glance.
Show modes clearly	Color-coded LEDs	Different colors communicate different modes.
Signal how serious an error is	LED brightness levels	Brighter patterns indicate higher severity.
Confirm commands were received	Audio tones	Simple tones acknowledge user inputs.
Indicate readiness	Startup sound sequence	Lets users know when the system is ready.
Confirm actions without looking	Vibration feedback	Tactile confirmation for key actions.
Show when the camera is active	Camera ring LED	Visible indicator that the camera is on.
Show motion status	Motor activity indicator	Signals when the drive system is active.
Communicate fault types	Blinking error pattern	Distinct blink patterns identify fault states.
Warn on critical faults	Audible error alarm	Louder alert for urgent issues.
Avoid unexpected shutdown	Battery level indicator	Clear battery status to plan before power runs out.
Show connection quality	Signal strength indicator	Helps diagnose weak links or dropouts.

Durability & Safety

Need / Requirement	Feature	Details
Protect electronics from the environment	Enclosed electronics	Keeps debris and dirt away from sensitive components.
Survive rough handling	Impact-resistant shell	Designed to withstand drops and bumps.
Repair quickly	Replaceable outer shell	Swap the shell instead of repairing the whole unit.
Shield internal boards	Internal shock mounts	Reduces shock loads on PCBs and connectors.
Reduce electrical hazard	Low-voltage system	Lower voltage reduces shock risk.
Prevent motor/electrical damage	Overcurrent protection	Limits current spikes that can harm motors or electronics.
Fail safely	Fuse protection	Cuts power to prevent catastrophic failures.
Avoid sharp edges	Rounded edges	Reduces snagging and risk of cuts or pinches.
Detect tip risk	Tip-over detection	Flags instability during movement.
Shut down safely on fault	Controlled shutdown	Powers down in a predictable, safe way.
Prevent overheating	Thermal shutdown	Automatically reduces risk if temperatures get too high.

Instruction & Learning

Need / Requirement	Feature	Details
Get started quickly	One-page quick-start	A short guide that gets users operating fast.
Keep instructions simple	Icon-based cues	Uses visuals so users don’t need to read long text.
Guide users step-by-step	On-screen prompts	Walks operators through key actions.
Offer help when it’s needed	Context-sensitive help	Shows tips based on what the user is doing.
Support beginner-to-expert learning	Layered help menus	Basic help upfront; advanced details optional.
Demonstrate without input	Auto-demo mode	Runs an automated demo hands-free.
Show continuously in a booth	Looping demo script	Repeats a demo sequence for displays.
Help new users succeed	Beginner mode	Slower movement and guided controls.
Enable full control for experts	Expert mode	No restrictions—complete manual control.
Refresh fundamentals quickly	Reset tutorial	A quick walkthrough to relearn the basics.

System Architecture & Expansion

Need / Requirement	Feature	Details
Support modular electronics	UART daisy-chain	Links multiple boards in a simple chain.
Add capabilities easily	Plug and play modules	Drop-in modules without complex wiring.
Keep the internal layout compact	Stackable PCBs	Layers boards to save space.
Ensure reliable communication	CRC error checking	Detects corrupted messages between boards.
Detect module failures	Heartbeat monitoring	Flags nodes that stop responding.
Recover automatically from faults	Watchdog timers	Auto-resets components that hang or crash.
Make servicing straightforward	Accessible service panels	Access key parts without full disassembly.
Speed up troubleshooting	Diagnostic LEDs	Quick visual clues during debugging.
Prepare for future upgrades	Ports available for new sensors	Ports for new sensors or modules.
Scale to multiple controllers	Expansion ports	Supports multiple boards/controllers working together.
Scalability	Multi-node support	Multiple controllers / Multi-node architecture

Exploratory Ideas

Need / Requirement	Feature	Details
Enable sacrificial scouting	Disposable scout mode	A mode for high-risk missions where loss is acceptable.
Show destroyed or disabled state	Intentional failure feedback	Clearly indicates when the unit is no longer functional.
Extend reach with deployables	Mothership deployment	A larger unit launches smaller scouts.
Coordinate multiple units	Swarm operation	Multiple devices working together.
Improve navigation intelligence	AI-assisted navigation	Suggests or selects routes based on terrain.
Build a hazard map	Environmental mapping	Turns sensor data into a visual map of conditions.
Review missions afterwards	Mission replay	Playback for analysis and training.
Make demos interactive	Audience voting control	Let the audience influence control during showcases.

Demonstration & Showcase Impact

Need / Requirement	Feature	Details
Make system data easy to follow	Live telemetry display	Shows key metrics in real time for the audience.
Ensure everyone can see	Projection to large screen	Optimized for large-format display.
Show amphibious capability	Water tank demo	Simple setup to demonstrate water operation.
Show ruggedness	Obstacle course demo	Highlights durability and terrain handling.
Make hazards understandable	Visual hazard demo	Uses clear visuals so risk is easy to interpret.
Explain what’s happening	Status overlay on video	Adds labels and status directly onto the feed.
Support repeated demos	Fast reset sequence	Resets quickly between runs.
Reduce downtime	Replaceable battery pack	Swap batteries instead of waiting to recharge.
Support multiple viewers	Spectator display mode	Lets multiple people watch the feed at once.

Sorted, Ranked, and Grouped Features

Concept 1 — Smart & Autonomous Recon Scout

Feature Group	Feature	Priority	Details
Smart Navigation	Waypoint navigation	High	Allows semi-autonomous movement
Smart Navigation	Follow-wall mode	Medium	Maintains distance from surfaces
Smart Navigation	AI-assisted navigation	Low	Adapts movement based on terrain
Sensor Intelligence	Sensor fusion	High	Combines data from multiple sensors
Sensor Intelligence	Hazard scoring algorithm	High	Summarizes environmental danger level
Sensors	FPV camera	High	Live video feed for monitoring
Sensors	Inertial Measurement Unit (IMU)	High	Tracks orientation and motion
Sensors	Low-light camera	Medium	Improves visibility in dark areas
User Interface	Live telemetry display	High	Shows real-time system data
User Interface	Status overlay on video	Medium	Explains robot behavior visually
Software Features	Mission replay	Medium	Allows playback of recorded runs
Software Features	Context-sensitive help	Low	Provides guidance when needed
Control Safety	Manual override	High	Ensures user control during autonomy
Wireless	Web-based dashboard	Medium	Allows control and monitoring remotely

This concept is designed to feel like a “smart assistant” rather than a fully manual robot. Instead of controlling every movement, the user gives the robot simple directions, such as where to go or what area to explore, and the robot handles the details on its own. While it moves, the user can watch live video and system information on a screen, helping them understand what the robot is seeing and why it is making certain decisions. If anything unexpected happens, the user can immediately take control, making the system feel both intelligent and trustworthy.

Team Responsibility Split — Concept 1 (3 Teammates)

Internet-based Two-way Wireless Communication (Mihir Patel)
Mihir will implement the two-way wireless communication using Wi-Fi + MQTT, including sending waypoint and control commands to the robot and streaming telemetry and video data back to the user interface. He will also handle reliability concerns such as reconnect behavior and safe operation if the connection drops.
Sensor Input + Human–Machine Interface (Lakshanand Sugumar)
Lakshanand will design the screen-based HMI showing live telemetry, hazard score, and navigation status. He will also integrate environmental sensors and implement sensor fusion so the operator always has accurate, real-time situational awareness.
Actuator Control + Autonomy Response (Raunak Singh)
Raunak will implement motor control, waypoint navigation logic, and autonomous motion behaviors. He will handle controlled actuator responses to sensor inputs and build safety behaviors to ensure smooth and safe autonomous movement.

Concept 2 — Cost-Effective & Modular Hazard

Feature Group	Feature	Priority	Details
Deployment	Throwable chassis	High	Enables quick deployment into hazardous areas
Deployment	Compact body	High	Fits through narrow spaces
Deployment	One-button power on	High	Minimizes setup time
Mobility	Wheeled propulsion	High	Simple and low-cost movement
Durability	Replaceable outer shell	High	Damaged shells can be easily replaced
Durability	Shock-absorbing shell	Medium	Reduces damage from impacts
Modularity	Modular parts	High	Allows replacement of only damaged components
Modularity	Plug-and-play modules	Medium	Simplifies repair and upgrades
Cost Reduction	Standardized fasteners	Medium	Uses common, inexpensive hardware
Cost Reduction	Shared components	Medium	Same parts reused across subsystems
Power Efficiency	Energy-efficient motor	Medium	Reduces power consumption
Power Efficiency	Replaceable battery pack	Medium	Extends operating life between runs
User Cues	LED indicators	Medium	Basic feedback for system status
Exploratory	Intentional failure feedback	Low	Indicates when the device is no longer operational

This concept is built for situations where the environment is dangerous and the robot might get damaged. The idea is to keep the robot simple, affordable, and easy to deploy, so a user can quickly send it into a risky area without worrying too much about losing it. It turns on with a single button, drives using basic wheels, and focuses on getting useful information fast. If something breaks, only the damaged parts need to be replaced instead of the whole robot, making it practical for repeated use in high-risk scenarios.

Team Responsibility Split — Concept 2 (3 Teammates)

Internet-based Two-way Wireless Communication (Mihir Patel)
Mihir will handle basic two-way wireless communication using Wi-Fi + MQTT for sending control commands and receiving system status information. The focus will be on maintaining a stable and reliable connection rather than advanced automation features.
Sensor Input + Human–Machine Interface (Lakshanand Sugumar)
Lakshanand will design a minimal HMI displaying essential information such as battery level, LED-based status indicators, and overall system state. He will handle basic sensor integration to support fault detection and provide the operator with key system readings.
Actuator Control + Motion Behavior (Raunak Singh)
Raunak will implement motor control, basic motion behaviors, and safety responses such as controlled shutdown and fault detection. His focus will be on reliable, low-cost actuation rather than advanced autonomy.

Concept 3 — Fast Deployment, Strong Situational Awareness

Feature Group	Feature	Priority	Details
Deployment & Startup	Throwable chassis	High	Can be tossed into hazardous areas to start a mission quickly.
Deployment & Startup	Compact body	High	Fits through narrow openings and tight spaces.
Deployment & Startup	One-button power on	High	Starts up with a single press—no complicated steps.
Deployment & Startup	Auto-leveling system	Medium	Stabilizes itself after landing so it’s ready to drive.
Deployment & Startup	Reset-to-home mode	Medium	Returns to a default ready state for the next operator.
Mobility & Terrain	Low center of gravity design	High	Reduces tipping risk during turns, bumps, and impacts.
Mobility & Terrain	Two-wheel efficient drive	High	Uses fewer motors to reduce power draw and simplify the drivetrain.
Mobility & Terrain	Flexible / compliant chassis	Medium	Helps maintain contact and control on uneven ground.
Water Capability	Flip-out fins / Propellers	Medium	Deploys flip-out
fins for water propulsion across short sections when needed.
Remote Control & UX	Smartphone app	High	Wireless control from a personal device (phone/tablet).
Remote Control & UX	On-screen prompts	High	Step-by-step guidance so new users can operate confidently.
Remote Control & UX	Waypoint navigation	High	Moves to set points to reduce operator workload.
Remote Control & UX	Manual override	High	Operator can instantly take control if autonomy struggles.
Remote Control & UX	Emergency stop	High	Immediate shutdown if something goes wrong.
Operator Awareness	FPV camera	High	Streams live video to the operator’s personal device.
Operator Awareness	Live telemetry display	High	Shows key system data (battery, link, alerts) in real time.
Operator Awareness	Hazard scoring algorithm	High	Rolls sensor readings into a simple danger indicator.
User Cues & Feedback	Color-coded LEDs	Medium	Clear mode/status visibility at a glance.
User Cues & Feedback	Camera ring LED	Medium	Obvious indicator when the camera is active.
User Cues & Feedback	LED indicators (basic status)	Medium	Quick power/state feedback without opening the app.
Power & Uptime	Replaceable battery pack	High	Swap batteries to keep missions and demos running.
Power & Uptime	Battery level indicator	Medium	Prevents unexpected shutdown by showing remaining power.
Safety & Durability	Thermal shutdown	High	Protects the system if internal temperatures get too high.
Safety & Durability	Replaceable outer shell	High	Damaged shell can be swapped instead of repairing the whole unit.
Safety & Durability	Impact-resistant / shock-absorbing shell	Medium	Helps protect internal parts during drops and collisions.
Safety & Durability	Enclosed electronics	Medium	Keeps debris and dirt away from sensitive components.

This concept is designed for fast deployment, simple operation, and strong situational awareness in hazardous environments. The throwable chassis lets an operator begin a mission immediately with minimal setup. Auto-leveling stabilizes the device at landing and allows for an immediate drive-rady response, and reset-to-home returns it to a default ready state for the next operator. A low center of gravity reduces tipping risk during turns and bumps. A two-wheel efficient drive reduces power use, improving runtime and reliability. The compact chassis allows precise navigation in tight spaces without requiring complex wheel configurations.

FPV video to a personal device and a live telemetry display keep the operator informed at a safe distance. The hazard scoring algorithm simplifies environmental risk into one easy-to-read indicator. On-screen prompts reduce confusion and training time. Thermal shutdown protects the system from overheating, and replaceable battery packs plus a replaceable outer shell reduce downtime and make field recovery practical.

Team Responsibility Split - Concept 3 (3 Teammates)

Internet-based Two-way Wireless Communication (Mihir Patel)
Mihir will implement the two-way wireless link (Wi-Fi + MQTT), including sending control commands from the smartphone app to the robot and streaming FPV video and telemetry back to the user. He will handle reliability issues such as reconnect behavior, message formatting/protocol, and safe fallback behavior if the signal drops.
Sensor Input + Human–Machine Interface (Lakshanand Sugumar)
Lakshanand will integrate environmental sensors (gas, temperature, humidity, IMU) and implement the hazard scoring algorithm. He will also build the OLED-based local HMI showing real-time system status, alerts, and hazard score so the operator always has on-device feedback without relying solely on the wireless link.
Actuator Control + Motion Behavior (Raunak Singh)
Raunak will implement motor control and motion behavior including two-wheel driving, flip-out fin deployment for water operation, and PID-based speed regulation. He will handle safety behaviors such as thermal shutdown, emergency stop response, and safe motor fallback if communication is lost.

Design Questions & Answers

Why concept 3?

We chose Concept 3 because it combines the most valuable strengths of Concept 1 and Concept 2 into one realistic build. Compared to Concept 1, Concept 3 keeps the key “smart” benefits (waypoint navigation, hazard scoring, telemetry + FPV) but avoids heavy autonomy complexity that increases implementation risk and debugging time. Compared to Concept 2, Concept 3 keeps the core practical build advantages (throwable deployment, replaceable shell, replaceable battery, reliability-focused design) while adding essential awareness tools (FPV + telemetry + hazard score + prompts) that make the device safer and easier to use. Overall, Concept 3 provides the best balance of feasibility, safety, usability, and mission effectiveness—making it the strongest option to build. This aligns directly with our team mission: to deliver a modular, throwable amphibious scout that provides operators actionable data from environments too perilous for humans like modular, throwable, tactical.

What cues will make the device easier to use?

We will provide simple, redundant cues so users never have to guess device status. Color-coded LEDs show mode/state, a camera ring LED shows when the camera is active, and a clear telemetry panel in the phone app displays battery level, signal strength, temperature, and hazard score. On-screen prompts guide users through setup and operation, and warnings appear immediately when something needs attention (low battery, overheating risk, weak connection).

How will the controls be designed?

Controls will be designed for low cognitive load and quick learning. The phone app will combine FPV video, a simple movement control (joystick/d-pad), and large buttons for key actions like waypoint navigation and reset-to-home. A large emergency stop will always be visible. Manual override will always be available so the user can instantly take control whenever autonomy is active.

What role will durability and comfort play?

Durability is essential because operators need to trust the device enough to deploy it into dangerous areas. The throwable chassis supports rough handling, while thermal shutdown protects internal components. Replaceable battery packs reduce downtime and keep missions running. A replaceable outer shell makes damage recovery simple and lowers repair time and cost. Comfort comes from predictable handling: the low center of gravity improves stability and reduces operator stress, while clear cues reduce mental load.

What instruction is needed to use the device?

Instruction will be minimal and built into the experience. Users will have a one-page quick-start guide (deploy → connect → drive → interpret hazard score → recover/reset). The web dashboard will provide on-screen prompts for key actions, and the OLED local display will show real-time status so the operator never has to open an app to check system state. Basic driving and video should work immediately after power-on.