Source files and documentation for: Design and Construction of a Differential Mobile Robot for Air Leak Detection

Description: This repository provides all the necessary documentation and source files to reproduce an open-source differential mobile robot designed for automated air leak detection in industrial piping. The platform utilizes a four-wheel differential kinematics configuration with a square base chassis constructed using a modular TETRIX building kit. The locomotion framework consists of two rear driving wheels driven by DC motors with integrated encoders for velocity and position feedback, paired with two front roller-based wheels that minimize turning friction and maintain stability during trajectory tracking. The system architecture is governed by an NI myRIO-1900 control platform. The sensory payload features eight distributed MAX4466 microphone modules mounted on a custom mechanical end-effector to identify air leaks through sound saturation points around the pipeline surface. Additionally, the platform integrates dual HC-SR04 ultrasonic sensors for distance tracking and FC-51 infrared proximity sensors to maintain a safe tracking envelope and prevent mechanical collisions with the inspected pipe structure. Repository Contents: Differential_Mobile_Base_CAD: Editable 3D assembly and individual manufacturing files (Autodesk Fusion 360 format) of the square TETRIX mechanical platform, including motor mounting brackets and sensor plates. Leak_Detection_Effector_CAD: Fully adjustable 3D CAD design files of the front-mounted scanning end-effector framework holding the acoustic sensor matrix. Control_Logic_VI: Comprehensive LabVIEW project files containing the real-time kinematics algorithms, proportional velocity control loops, and sensory acquisition matrices deployed on the MyRIO target. Component_Connections: High-resolution block diagram detailing the interface mapping between the MyRIO, Cytron/Pololu motor drivers, the 12V battery distribution board, and the discrete sensor networks. Electronic_Schematic: Technical schematic outlining circuit pinouts, power regulation stages, and signal routing configurations across all onboard electronics. Hardware Requirements: Control Unit: National Instruments myRIO-1900. Actuators: 2x Driving DC Motors with encoders (locomotion base) and 2x N20 DC Motors with encoders (end-effector mechanism). Motor Drivers: Cytron and L298N H-Bridge motor drivers. Mechanical Frame: TETRIX Robotics Starter Kit. Sensors: 8x MAX4466 Microphone modules, 2x HC-SR04 Ultrasonic sensors, and 2x FC-51 Infrared sensors. Power & Distribution: 12V DC Rechargeable battery, voltage regulator module, and power distribution board. Software Dependencies: NI LabVIEW (and NI-RIO drivers ). Autodesk Fusion 360 (or any standard multi-platform STEP/IGES editor ). License: This project and all its unfiled engineering design assets are shared under the CERN Open Hardware Licence Version 2 – Permissive (CERN-OHL-v2-P). Users are completely free to study, modify, manufacture, and distribute this platform compliant with the open-source hardware criteria.