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Innovation and Design Excellence from Lawrence Technological University

Innovation and Design Excellence from Lawrence Technological University. Overview. Team Introduction Previous Design History New Platform Design Process Innovative Platform Features Sensor Development Global Grid Path Planning Jaus Summary Q & A. Team Introduction.

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Innovation and Design Excellence from Lawrence Technological University

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  1. Innovation and Design Excellence from Lawrence Technological University

  2. Overview • Team Introduction • Previous Design History • New Platform Design Process • Innovative Platform Features • Sensor Development • Global Grid • Path Planning • Jaus • Summary • Q & A

  3. Team Introduction Paul Wright, BSTM -Team Leader Ryan Mathews, BSCS -Programming Team Leader Jonathan Ruszala, BSRE -Electrical Design Leader CJ Chung – Faculty Advisor Mechanical Team Paul Wright – BSTM Stephen Osterhoff BSBME Philip Bigos– BSRE Anthony Knapp– BSRE Path Planning Team Dan McGee – BSEE Daniel Anderegg – BSCS Vision Processing Christopher Kawatsu, MSCS Jiaxing Li, MSCS Taiga Sato , MSCS JAUS Ryan Matthews – BSCS Global Grid Jonathan Nabozny – BSCS

  4. Previous Design History • Culture Shock I 2009 • Culture Shock II 2010 • Vulture I 2011

  5. Previous Design History • Performance • Low center of gravity • High Power 24V motors • Low moment of inertia • High-performance computer systems • Cambered wheel design • Dual Chain tensioners • Safety • Gel Batteries • Reliable E-stop • Audible & Visible alerts • Speed-limiting via Motor Controller

  6. Previous Design History • Reliability & Maintainability • Durable materials • Modular construction • Passive sensors • Small footprint • Increased maneuverability • Ease of testing

  7. New PlatformDesign Process • Reduced Camber angle to 7⁰ • Revised Suspension for more durability • Built Sensor Test Cart for sensor development • 12VDC Monitor eliminates inverter • Continuous design improvement

  8. New PlatformDesign Process • Built Sensor Test Cart for sensor development

  9. Stereo Vision System • Low cost web cameras. • Open source stereo vision software (Emgu, C# wrapper for OpenCV)

  10. Disparity, Rectified, and Obstacle Images Disparity Image Left Camera Rectified Image Obstacle Image

  11. Global Grid:Configuration Sampled Coordinates: 42.67994, -83.19578 42.67990, -83.19420 42.67798, -83.19565 42.67788, -83.19411 Grid Bounding Lines: North = 42.67994 South = 42.67788 East = -83.19411 West = -83.19578

  12. Global Grid:Configuration

  13. Global Grid:How It Works

  14. Path Planning:

  15. Software Design(JAUS Challenge) Message Header Payload Message Manager Component Element Control Status Local Pose Report Identification Services Velocity

  16. Innovative PlatformFeatures • Cambered wheel design- Single sided mounting • Low center of gravity for neutral balance • Low moment of inertia for easy turning on axis • 12VDC Monitor eliminates inverter • Custom SAE-JAUS COP • Proprietary Stereo Vision Camera image processing

  17. Innovative PlatformFeatures • Ease of Use: • Reconfigurable Upper structure • Ease of access to electronics and batteries • Accessible controls • Low weight • Lightweight materials • Integrated sensors • Low power • Passive sensors • DC-DC conversion

  18. Summary Evolutionary Design through Continuous Improvement

  19. Q & A

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