Autonomous People MoverPhase II - Sensory System

P15242 - MSD 1 - SYSTEM DESIGN REVIEW

The Team Member Role ProgramNathan Biviano Project Manager &

IntegrationIE

Madeleine Daigneau

Software & Communication

CE

James Danko Controls & Communication

EE

Connor Goss Software & Communication

CE

Austin Hintz Power & Electrical Design

EE

Sam Kuhr Power & Electrical Design

EE

Benjamin Tarloff Controls & Integration

ME

Agenda● Background

○ Project Background○ Team Overlap○ Scope○ Customer Requirements○ Engineering Requirements○ Risk Assessment

● System Analysis○ HOQ Relationship Diagram○ Functional Decomposition○ Engineering Analysis○ Concept Selection/System Level Proposal○ Test Plan○ Updated Schedule

Feedback Topics

● Sensor Selection● Microcontroller Selection● Sub-microcontrollers● Sensor Layout● Sensor Integration Difficulty

Project Background

The Rochester Institute of Technology wishes to re-enter the field of research in vehicle autonomy.

Autonomy is becoming more and more important as automotive standards leave fewer vehicle functions to the human user. Autonomous vehicles offer significant improvements in roadway safety and traffic flow.

The base of this project is the work started by the Autonomous People Mover Phase I team.

Team Overlap & Integration

Project Scope

Phase I● Remote Control● Manual Override

Phase III+● Full Autonomy (forward

& reverse)● Refined User Interface● Object Identification &

Avoidance● Static & Dynamic Objects

Phase II● Autonomous Forward

Drive● Static Object

Detection & Avoidance

● Closed Course● Remote and Manual

Override

Customer Requirements

Engineering Requirements

Risk Assessment

HOQ

Functional Decomposition

Autonomous Mode

Vehicle Benchmarking

LIDAR Benchmarking

Morph Chart

Morph Chart

Engineering Analysis of Sensor Placement

Engineering Analysis of Sensor Placement

Engineering Analysis of Sight

Engineering Analysis of Sight

System Overview

Concept Selection Process

Concept Selection Process

Concept Selection Process

Concept Selection

Engineering Analysis

● Will we have sufficient forward sight on the cart?o Yes

● Microcontrollers - # of Inputs? Processing?o Sub-microcontrollers

● Sensors - Amount of certain types? Orientation?● Power Consumption*

*No specifications for some sensors so competitor data was used.

Sensor Analysis

Sensor Communication Number of InputsUltrasonic Analog-Digital

Converter6

LIDAR Ethernet/USB 1RADAR CAN 3Camera USB 2.0 2GPS Serial 1Accelerometer I2C 1

Microcontroller Benchmarking

Microcontroller Benchmarking

ROS vs. PolySync

ROS with SLAM● Optimized for Robotic Systems

Integration ● Simultaneous Localization and

Mapping (SLAM)● 3D Perception● Works well with Autonomous

Navigation● Much Existing Code● Adaptable to most systems

ros.org

PolySync● Optimized for Autonomous Vehicle Image

Stitching● Algorithms for diagnostics, automatic fault

recovery and cybersecurity● Integrated Simulation● Advanced Logging and Replay● Plug and Play with massive ecosystems of

sensors, actuators, and computer hardware

harbrick.com

Test Plan

Once we have agreed upon sensors, ordered and received them:● Write test code● Test the different types of sensors under a variety of

conditions● Test different software to see which is the most versatile and

user friendly● Verify sensors are working● Test sensor code

o Translate sensor output data into a useful diagram● Revise code as needed

Schedule

Questions? Feedback?