MIT 2.009 · Blue Team · Fall 2026

MORTAR |
Masonry Inspection Robot

MORTAR is our team’s suspended robot for visual and tapping inspection of building façades, aiming to reduce setup time, cost, and risk for inspectors. I developed the mechatronics architecture and originated the solenoid tapper concept.

In progress

Mechatronics · CAD & DFM · Acoustic inspection Updated November 2026

The complete system

Inspect the façade
from the rooftop.

A rooftop outrigger positions the suspended payload along the wall. Live video supports close-up visual inspection, while a solenoid tapper and audio capture provide sounding information. Encoder-based positioning links observations to locations for the inspector to flag.

Less setup timeSimplify deployment and repositioning.

Lower inspection costReduce reliance on extensive access equipment.

Safer inspector accessOperate from the roof instead of alongside the façade.

Side-view team CAD showing the rooftop outrigger, winch, suspension cable route, and inspection payload against the façade — **Rooftop support & suspended payload**Whole-system side view from Architecture Review.

Perspective team CAD of the complete MORTAR system, including rooftop rails and outrigger with the payload hanging over the wall — **The complete inspection concept**Team CAD showing the rail, outrigger, and wall-contact robot.

MORTAR payload CAD with suspension plate, wall-contact wheels, tapper, camera, and electronics enclosure — The team's payload design at Architecture Review.

01 My contribution

Cross-disciplinary engineering.

Mechatronics architectureDesigned the sensing, communications, and control paths between the robot, rooftop, and inspector.
Solenoid tapperOriginated the solenoid tapping concept and built the working prototype, including wiring, driver selection, and Arduino control.
Mechanical integrationContributed to CAD and component integration with the mechanical subteam. The payload and enclosure CAD shown here reflects shared team work.

02 My mechanism

The solenoid tapper.

I built and programmed an adjustable tapping prototype using an Arduino Nano and MOSFET driver. Iteration focuses on the strike, spring return, and mechanical isolation to keep actuator noise out of the acoustic recording.

Working bench prototypeSlow-motion footage of the strike and spring-return cycle.

Exploded CAD view of the blue solenoid enclosure with cushioning, hammer tip, removable lid, and mounting feet — **Tapper packaging**A teammate modified this solenoid enclosure around my tapper concept.

03 System design

Connecting the roof and robot.

I designed a two-Pi architecture and proposed the wireless Ethernet bridge to carry video, audio, and commands without a long trailing data cable. I also worked with the outrigger team on winch-position sensing and remote-button relay control.

Bishop's system architecture: inspector touchscreen and rooftop Raspberry Pi connect through a wireless bridge to the robot Pi, camera, microphone, tapper, and lighting; rooftop Arduino handles the encoder and winch remote relays — My control and communications architecture. Click to view full size.

04 Sensing & integration

A useful view, close to the wall.

I defined camera and lighting requirements around a three-by-three brick view at a three-inch working distance, calculated the required coverage, and developed fisheye correction for the inspection imagery.

Original fisheye inspection-camera image of a brick wall and tape measure — **Original camera view**Wide coverage at a short standoff.

The same brick inspection image after mathematical fisheye correction — **After fisheye correction**Remapped for a more readable inspection view.

More CAD & integration details

These shared team CAD views show the payload and electronics packaging. My integration work considers component clearances, mounting, service access, and design for manufacturing alongside the mechanical subteam.

Exploded team CAD showing the payload frame, wall-contact wheels, tapper, and electronics — Payload assembly and component interfaces.

Exploded team CAD view of the payload electronics enclosure and internal component mounting — Electronics enclosure and internal packaging.

Current work: refining the tapper, mechanical packaging, and sensing/control integration as the robot develops.

MORTAR |Masonry Inspection Robot