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Smart Mobility Lab - SML - Royal Institute of Technology/Carlos Summer Project... · Kungliga...
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Transcript of Smart Mobility Lab - SML - Royal Institute of Technology/Carlos Summer Project... · Kungliga...
New Generation of Scaled Truck Models
in the Smart Mobility Lab
Carlos Pedreira
Smart Mobility Lab - SML
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Outline
• Introduction
• Previous LabVIEW Projects at SML
• NI real-time device myRIO
• Trucks features
• Ultrasonic sensors
• Tests
• Conclusions
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Introduction
• Assembly of three new trucks
– SCANIA truck models
• Install embedded hardware device for control
– NI myRIO (Real-Time platform)
• Add physical and virtual sensors
– Obstacle detection
– Localization (MoCap)
• Test scenario implementation
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Previous projects at SML
• Desktop computer dependency
• Wireless communication with Tmote Sky
• Qualisys Motion Capture (MoCap) system
• Trucks enabled features
– Move forward
– Steering
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
NI myRIO
• Reconfigurable I/O (RIO) technology
• 10 analog inputs, 6 analog outputs, 40 digital I/O lines
• Wireless, LEDs, push button, accelerometer onboard
• Xilinx FPGA and dual-core ARM Cortex-A9 processor
• Linux real-time OS
• LabVIEW or C/C++
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Trucks
• 1:14 Scale R/C Tractor Trucks
• Models:
R470 HIGHLINE R620 HIGHLINE
• 3-Speed transmission
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Trucks
• NI myRIO onboard
– Computational autonomy
– Network shared-variables
– Wi-Fi programmable
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Ultrasonic Sensors
High Resolution Ultrasonic 36.89° | Range 500 cm
Low Resolution Ultrasonic 106.2° | Range 645 cm
53.1°
53.1°
• High resolution (HR) / narrow beam / long range
– One sensor on central top front
• Low resolution (LR) / wider beam / short range
– Two sensors
on central bottom
front
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Ultrasonic Sensors – Experiment Setup
≈30 cm ≈30 cm
30° 30°
30° 30°
Direction Beam
dl dl dr dr
dc dc
dl- left distance dr- right distance dc- central distance
forward forward
2 - With Trailer 1 - Without Trailer
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Ultrasonic Sensors - Results
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Ultrasonic Sensors - Results
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Test – Manual Control
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Automatic Control
• PID controllers implemented
– Speed
– Steering
LabVIEW Front Panel
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Test – Automatic Control
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Conclusions
• NI myRIO versatile device for engineering
educational purposes
• Stand-alone systems
• Reusable from project to project
• Future work
– Target tracking without MoCap system
– Direct communication between myRIOs
– Automatic parking
– Add sensors on the trailer
Kungliga Tekniska Högskolan / KTH / Smart Mobility Lab / C. Pedreira / August 2014
Thanks for your attention
Questions?