LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob...
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Transcript of LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob...
![Page 1: LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas,](https://reader033.fdocuments.us/reader033/viewer/2022061306/5514843d550346d36e8b4b51/html5/thumbnails/1.jpg)
LTU H2BotTeam Members:David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas, Danielle E. Johnson, Nathaniel Johnson, Dave Daraskavich, Bill Gale, Brett Richardson
![Page 2: LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas,](https://reader033.fdocuments.us/reader033/viewer/2022061306/5514843d550346d36e8b4b51/html5/thumbnails/2.jpg)
LTU H2Bot
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Presentation Outline
Team Structure and Design Approach Design Features Mechanical Design Electrical Design Software Design Performance
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Team Structure & Design Approach
Multi-Disciplined: CS, ME, EE, CE Explore multiple designs (sets) early Compare and Mockup Design sub-teams with collaborative
integration Portable software development on 2005
vehicle
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Dual Power – Fuel Cell, Battery Modules PCB Power distribution Fail-safe Brakes & HW Speed Limit Brushed DC Motors / Planetary Gear Sets Robust Extruded Aluminum Frame JAUS Wireless Interface LMS, Camera, Compass, DGPS
Key Hardware Features
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Power Modules – Fuel Cell
1.2kW Ballard Hydrogen PEM Fuel Cell
Hydrogen Leak Detection Self-regulating
Microprocessor control PV Charge Controller
regulates System Voltage (24V)
DC-DC converter feed 12V bus
8 hour run time per tank
![Page 7: LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas,](https://reader033.fdocuments.us/reader033/viewer/2022061306/5514843d550346d36e8b4b51/html5/thumbnails/7.jpg)
Power Modules - Battery
Interchangeable with Fuel Cell Module
40 Ah X 24 V Battery configuration
DC-DC Converter supplies 12V bus
Built-in Automatic Charger
5 hour run time
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Power Distribution Box
2-layer PCB 12V & 24V buses Regulated 24V supply eStop Motor Power Relay Sensor Power Switches Inexpensive Connector
System Battery Module
Fuel Cell Module
Power Distribution Box
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Software Concept Sun Java and Eclipse IDE Object-Oriented, Portable, and Scalable Independent threads for communication,
signal processing for each device Fault-tolerant, watchdog concept for all
devices Data time-stamping
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Software Architecture
Sensors Path Planning
World Map
Sensor Fusion
Path Execution
Calibration
Motor Controller
H2BotSoftware Architecture
Warning Indicators
JAUS Receiver
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Vision Processing
Pixel Classification Teaching Image Manual Enhancement HUV Color Cube Avoid Non-
Background Region
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Sensor Fusion
Virtual Grid World Frame Image Pixels projected to Ground Plane LMS Data Overlayed with Video Compass tracks Vehicle Orientation in
Grid Frame GPS and Dead-Reckoning track position
in Grid Frame
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Performance
Gradability: minimum 2.5” curb Max Speed: 4.2 mph Power Consumption: 50-150W Range: Fuel Cell 8 hrs, Battery 5 hrs Failsafe Brake Capacity: > 30% grade LMS Range: 8.1m