LUNaR SECON I Senior Design I Midterm Presentation October 4, 2007.
LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review...
-
Upload
paul-walker -
Category
Documents
-
view
217 -
download
0
Transcript of LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review...
![Page 1: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/1.jpg)
LUNARLunar Unmanned Navigation and Acquisition Robot
SECON I
Senior Design I
Final Design Review
November 29, 2007
![Page 2: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/2.jpg)
Team 1
Dr. Bryan Jones,
Advisor
Ted
CopelandBryan Reese
Theresa Weisenberger
Jeffrey
Lorens
Block Detection X X
Path Detection X X
Object Avoidance X X
Communication X X
![Page 3: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/3.jpg)
Outline
Competition Overview Practical Constraints Technical Constraints Models Testing Spring Semester Goals
![Page 4: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/4.jpg)
Competition: Summary
Lunar mineral harvesting robot
Color-coded blocks with RFID tags
Collect maximum of four blocks and bring them back to home base
Final rounds head-to-head
![Page 5: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/5.jpg)
Competition: CourtHome Bases
• Red/Blue/White Blocks
X Black Blocks
Pea Gravel
Sand
Paint
6 ft
6 ft
•Symmetrical Block Placement
•IR Beacons (2.5kHz and 4 kHz) on Home Bases
•Note: Grid will not be on the field during competition
X
![Page 6: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/6.jpg)
Competition: Approach
![Page 7: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/7.jpg)
Outline
Competition Overview Practical Constraints
Manufacturability Sustainability
Technical Constraints Testing Spring Semester Goals
![Page 8: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/8.jpg)
Practical Constraints
Type Name Description
Manufacturability Modularity The robot must be designed as a set of subsystems that can be replaced independent of other subsystems.
Sustainability Dependability The robot must be sturdy enough to withstand repeated use.
![Page 9: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/9.jpg)
Modularity
Team One Block Detection Path Planning Object Avoidance Home Base Detection
Team Two Locomotion Block Retrieval Block Storage
![Page 10: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/10.jpg)
Modularity-Team 1 Subsystems
Environmental Sensing IR Distance Sensors Limit Switches
Vision Block Detection IR Sensor CMUCam3
![Page 11: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/11.jpg)
Sustainability
Robot must be able to run full round (6 min) without repair.
Rugged enough to sustain normal wear. Only minor maintenance between rounds. Easily changeable battery
![Page 12: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/12.jpg)
Sustainability
Battery Life: 5 rounds on 1 charge Performs consistently after multiple tests Normally no maintenance between rounds Battery slips into sleeve
![Page 13: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/13.jpg)
Outline
Competition Overview Practical Constraints Technical Constraints Models Testing Spring Semester Goals
![Page 14: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/14.jpg)
Technical Constraints
Name Description
Block Detection The robot must be able to detect and distinguish among red, blue, black, and white blocks.
Path Planning The robot must find a path to a target block while avoiding any obstacles.
![Page 15: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/15.jpg)
Block Detection
Block Detection IR distance sensor Requests color identification from camera
Color Differentiation Prioritize block pick up Minimize the time spent collecting blocks
![Page 16: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/16.jpg)
Path Planning
Center Line Detection Black block Reference point
Block Location Home Base Detection
![Page 17: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/17.jpg)
Outline
Competition Overview Practical Constraints Technical Constraints Models Testing Spring Semester Goals
![Page 18: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/18.jpg)
Physical Model
Camera Block Detection Sensor
Environmental Distance Sensors
Collision Detection Sensors
Collision Detection Sensors
![Page 19: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/19.jpg)
Physical Model
Environmental Distance Sensors
Block Detection Sensor
Collision Detection Sensors
![Page 20: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/20.jpg)
Wall DetectionIR Distance Sensors
Limit Switches (4)
Environmental Sensing Subsystem Vision Subsystem
Distance to wall
Distance to wall
Distance to wall
Distance to wall
CMUCam3
RS-232 bidirectional serial
SP
I
bid
irectio
na
l seria
l
Block Detecting
IR Distance Sensors
Block Present
Block Color
PIC18F4420
Microcontroller
Blo
ck
Co
llec
ted
Team 2 Microcontroller
Driv
e C
om
ma
nd
s
Front
Information Model
Back
Right Side
Left Side
![Page 21: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/21.jpg)
Outline
Competition Overview Practical Constraints Technical Constraints Models Testing Spring Semester Goals
![Page 22: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/22.jpg)
Testing-Block Detection
Camera returns mean color value of block PIC determines block color Tested at each of three possible locations Subsystems Tested
CMUCam3 RS-232 Serial
Communication
![Page 23: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/23.jpg)
Block Detection Results
Color Identified by Vision Subsystem
Block Color Location A Location B Location C
Blue Blue Blue Blue
White White White White
Red Red Red Red
![Page 24: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/24.jpg)
Testing-Path Planning
Robot starts at home base
Measures center-line detection accuracy
Subsystems Tested IR Distance Sensors SPI Communication Analog-to-Digital
Converter
x
x
x
x
x
![Page 25: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/25.jpg)
Results-Path Planning
TrialDistance from
Center (inches)Percent Error
1 0 0%
2 0.625 1.74%
3 1 2.78%
4 0.25 0.69%
5 0.5 1.39%
![Page 26: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/26.jpg)
Outline
Competition Overview Practical Constraints Technical Constraints Models Testing Spring Semester Goals
![Page 27: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/27.jpg)
Spring Semester Goals
More precise environmental sensing Camera integration Enhanced object avoidance system Playoff round capability
![Page 28: LUNAR Lunar Unmanned Navigation and Acquisition Robot SECON I Senior Design I Final Design Review November 29, 2007.](https://reader036.fdocuments.us/reader036/viewer/2022062519/5697bfd71a28abf838cae865/html5/thumbnails/28.jpg)
References
Huntsville IEEE Section. "SoutheastCon 2008 Hardware Competition Rules: Return to the Moon," IEEE SoutheastCon 2008. 2007. Available: http://ewh.ieee.org/reg/3/secon/08/competition.html
Questions?