IEEE Robotics - Requirements Presentation

Presented by Jason Abbett and Devon Berry

Competition

• Purpose of the robot

• Brief overview of the competition

Competition Requirements

• Drive system

• Navigation sensor(s)

• Color sensor(s)

• Manipulator

• Processor / software

Warehouse Layout

Time Penalties

• Container does not remain upright (15 sec)

• Container moved to wrong room (30 sec)

• Dropped containers (10 sec)

• Contact with walls (5 sec)

• Staying in starting room (disqualified)

• Leaving course boundary (disqualified)

• Harmful contact with worker (15 sec)

• Moving a worker (15 sec)

System Requirements

• 16 inches x 16 inches x 36 inches

• Autonomous

• Safety

X-port Microcontroller with Development Kit

• 32-Bit ARM CPU (110 Mhz)

• FPGA hardware implementation

• Programmable in C++

• 4MB Flash Memory

• 16 digital input/output ports

• 8 analog input/output ports

• 4 motor ports

Hardware Architecture

• Frame– 10’’ x 11’’ x 12’’– Laser cut Lexan– Stable– Expandable

Hardware Architecture

• Motors

• Servos

• Manipulator

Hardware Architecture

• Sensors– Sonar– Light– Camera– Mouse– Touch

Hardware Architecture

• Controller– Inputs– Outputs– Battery Pack

Software Architecture

Evolutionary Prototype Model

Build prototypesystem

Develop abstractspecification

Use prototypesystem

Deliversystem

Systemadequate?

YES

N

Classes

• Localization– Mouse

• Light Sensors– Line following

Classes

• Motors– Microcontroller I/O– Forward/Reverse Movement– Turning on a dime

Classes

• Claw– Closes when triggered– Determined by camera and sonar

• Sonar

• Camera– Uses RGB values

Modules

• Line following

• Error correction

• Locate Can

Software Applications

• XPort sdk package– cygwin bash shell– RTOS (real time operating system)

• C++

Schedule

• Gantt Chart

• 9 to 11 man hours needed

ID Task Name Start Finish Duration2006

Feb AprJan Mar

1 30d2/7/20061/9/2006IO Module Implementation

16d3/9/20062/22/2006Object Identification

9 40d3/19/20062/8/2006AI Module Implementation

4d2/11/20062/8/2006Sensor Calibration

2d1/10/20061/9/2006Motors

4d4/10/20064/7/2006IEEE Tournament (San Antonio, TX)

3d1/31/20061/29/2006Sonar

10d1/26/20061/17/2006CMU Camera

4d2/7/20062/4/2006Mouse

6d1/16/20061/11/2006Servos / Manipulator

6d4/6/20064/1/2006Finalize for Tournament

3d2/3/20062/1/2006Compass

2d1/28/20061/27/2006Light Sensors

10d2/21/20062/12/2006Main / Line Following

14 81d3/30/20061/9/2006Testing

10d3/19/20063/10/2006Manipulator Control

25d5/5/20064/11/2006Manuals, Documents, etc.

16

15

17

2

3

4

5

6

7

8

11

13

10

12

Obstacles

• Compass– Accuracy– Interference

• Debugging– Hardware or Software

Process Plan

• Specifications

• Programming• Testing• Delivery

Build prototypesystem

Develop abstractspecification

Use prototypesystem

Deliversystem

Systemadequate?

YES

N

Organization Plan

• Analysis

• Design– Hardware– Software

• Programming

• Testing

Test Plan

• Modular tests

• Integration tests

• Track tests

Potential Risks

• Hardware Changes

• Incomplete Hardware

• Interface Changes

• Design Changes

• Code Changes

• Team Member Changes

• Failure To Meet a Deadline

Documentation

• Responsibilities– Team Decision

• Outlines– Dr. Waxman (or team decision)

• Contents– Follow outline

Training

• Internal– Upload to XRC– Use eCos

• External– None (manuals / documentation)

Review and Reporting

• Reviews– Determine project status

• Reports– Time logs– Status reports

Required Resources

• Manpower

• Computer Resources

• Other Resources

• Required Software– Cygwin– Xport Dev. Kit– Xport eCos

Project Status

• Software– Design– Motor use– eCos threading– Mouse readings

• Hardware– Motors– Compass (discontinued)– Servos– Mouse– CMU Camera

Conclusion

• Precise, Quick, Sturdy, and Bug Free

• Support Hardware and Software Changes

• Modular

• Implementation following design and testing plans

• Regular reports and logs