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Transcript of Alexander Montes Mcneil Electrical Engineering Alexander Maerko Electrical Engineering Gabriela...
Alexander Montes McneilElectrical Engineering
Alexander MaerkoElectrical Engineering
Gabriela Calinao Correa
Electrical Engineering & Applied Mathematics
Timothy Robert TuftsComputer Systems Engineering
Low-cost 3DEnvironmentSensingSystem
Alexander MaerkoElectrical Engineering
Alexander Montes McNeilElectrical Engineering
Team LESS
Gabriela Calinao CorreaElectrical EngineeringApplied Mathematics
Timothy Robert TuftsComputer Systems
Engineering
Mario ParenteAdvisor
Background: Mars Rover● Obstacle Avoidance Attempted last
yearo Existing Sonar hardware was old and
unreliable
● We want to upgrade to a more powerful sensing systemo Problems: Price and Outdoor FunctionalityTim
Problem
Light based sensor systems that work
outside areprohibitively expensive!
Tim
SignificancePopularity of ‘Hackathon’
Culture
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Emphasis on
Autonomy in Society
Serious Untapped Potential
Context Society:● Availability of
Autonomous Devices Individuals:● Hackers & Hobbyists
o Pizza Delivery Boto Firefighting Robotso iRobot Roomba®
Ela
System Requirements● Optically Sense External
EnvironmentLmin ≤ 0.5 m ΘH ≥ 45°Lmax ≥ 4.0 m ΘV ≥ 58°
● Output real time 3D frameso Usable speed at least 1 m/so Pixel value = Depth value
● Cost under $500● Work in Full Sunlight
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Design Alternatives● Lidar and Range Finder (sunlight)
o Illuminates a target with a lasero Analyzes the reflected light by taking Phase Difference
● Ultrasonic Systems (sunlight)
o Ultrasonic Transducers for Marine Electronics & Sonar
o Tesla
● Kinect (Perfect cost - $150) o Doesn't work in direct sunlight
Alex
LIDAR Explained● Lidar is a general term but all
forms of lidar involve sending light and analyzing some aspect of the return signal
● The simplest LIDAR measures distanceo Analyzes the time it takes
for a light signal to leave and return to the unit
● Operates in between the UV and Infrared spectrum of EM wavesAlex
Ultrasonic Systems
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$40
Kinect
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LESS Solution
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● The LESS brings a low cost 3D environment mapping system to your backyard
● Design a system of optical improvements to filter out the suns interference with the system
● Use a microcontroller to create a 3D depth chart of the environment and export in a familiar format
Sunlight Solution● Pulsed, Polarized
Laser● Band Pass Filter● Polarized Lens● Normalizing
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Block Diagram
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Subblock: Optics
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Requirements:● Laser
o PrimeSense Diffraction Grating
o Reduce Interference by 90%
o λ = 830 nmo T = constant ± 3°C
● Depth Sensoro 1200x960 pixels
o 30 FPS
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Subblock: Microcontroller/ElectronicsRequirements:● Control Optics
o Laser Pulsing, Temperature Sensor● BeagleBone Black (~$60)
o 512MB DDR3 RAMo 4GB 8-bit eMMC on-board flash
storageo 3D graphics acceleratoro NEON floating-point acceleratoro 2x PRU 32-bit microcontrollersAlex
Subblock: Data ProcessingRequirements:● Input raw Optical Data● Filter Noise from Optical Data● Parallel Processing of Frames
o Latency of ≤ 1 so Throughput of 3 FPS
● Output information for 3D mappingo Depth Frame
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Subblock: Rover
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Requirements:● Navigate to a Target
Locationo Within 10 feet (~3 meters)
● Interface with the LESS unit
● Detect and Avoid Obstacleso Range of 0.5 to 4 meters
● Minimal Cost to Travel Speedo Travel at 0.2 m/s
MDR Deliverables● Complete Optical Unit Schematic
→ Address the following design problems:o Is there an aberration to be accounted for on the CCD
Sensor?o How will Polarization effect the field of view?o Does a higher intensity affect the value of local maximum
in the PrimeSense diffraction pattern?
● Design Thermal Control System for Laser● Confirmation of Rover Functionality
o Test Drive in the Engineering Quad
● Stream test data from Microcontroller to Rover
● Design Artificial Test Data for Processing Software
Tim
Acknowledgements● Professor Jun Yan, UMass Physics
Dept.● Professor Leonard● Professor Parente and MIRSL● SDP14 Team AIR
Sonar/Ultrasonic Systems Explained● Active sonar emits a sound and
analyzes the echo of that soundo Mainly used underwater
● Ultrasonic sensor systems uses the same method but at a much higher frequencyo This makes it more suitable for use in the
atmosphere
Design Alternatives
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● Real-Time Navigation in 3D Environments Based in Depth Camera Data
The Mesa Imaging SwissRanger 4000 (SR4000) is probably the most well-known ToF depth camera. It has a range of 5-8 meters, 176 x 144 pixel resolution over 43.6° x 34.6° field of view. It operates at up to 54 fps, and costs about $9,000. I've seen these used in a number of academic laboratories.
Outline● Background● Problem● Significance● Context● System Requirements● Design Alternatives● Block Diagram● MDR Deliverables● Acknowledgements/Citations● Questions
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Tim Ela
Stubs of faces for slides
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LIDAR
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