Post on 03-Jan-2016
P14215 AUTONOMOUS WANDERING
AMBASSADOR
Michael Gambino – Hardware Specialist
Nick Nguyen – Software/ Hardware Specialist
Apurva Shah – Project Leader
Peichuan Yin – Electrical Specialist
Overview Design Constraints &Risk Schedule Test Result &
Future
What is the project about?
PROJECT OVERVIEW
The objective of this project is to modify a currently remote controlled robot so that it should have the capability to navigate autonomously without causing harm to any person or damaging any objects in its path.
Overview Design Constraints &Risk Schedule Test Result &
Future
CUSTOMER REQUIREMENTS
Customer Rqmt. # Importance Description Comments/Status
CR1 10 Detect RFID tags Use RFID tags to use tracking of zones on the robot
CR2 9 Avoid ObstaclesUse different sensors so the robot can navigate through
obstacles
CR3 6 Move at human walking speed Using a different gear ratio
CR4 7 Allow user interactionEssentially put some sort of camera on the robot for
streaming
CR5 10 Test P13215 specifications Gain familiarity with all boards
CR6 10Move autonomously from one
point to another Avoid obstacles when moving to a different RFID tag
CR7 9 Manual Control Adapt remote control using a PS2 controller
CR8 8Compute fastest route to the
next RFID tags Use arduino math to compute fastest route
Overview Design Constraints &Risk Schedule Test Result &
Future
ENGINEERING REQUIREMENTS
rqmt. # Importance Source Function Engr. Requirement Unit
S1 8 CR3 Robot Speed Speed of about 0.3 m/s m/s
S2 8 CR1 RFID Unit Able to recognize robot's location
S3 10 CR2 IR Sensors (short range)Able to detect object from 0 to 1
feet V/m
S4 9 CR2 Sonar Detection
Robot functions as expected when an object obstructs the path of the
robot. in
S5 9 CR5 Verify robot's current functionality revise and verify the code
S6 4 CR4 Webcam systemStream video at least 30 fps at
720p bit/sec
S7 8 CR6 Controls accuracy
Ensure that turning and distance traveled are accurately monitored
by robot mm
S8 CR6, CR8 Pathing systemable to calculate the shortest path
in give area
S9 CR7 Control system improvementlong range control system without
delay or interupt m
Overview Design Constraints &Risk Schedule Test Result &
Future
FUNCTION DECOMPOSITION
Overview Design Constraints &Risk Schedule Test Result &
Future
SYSTEMS DESIGN
Overview Design Constraints &Risk Schedule Test Result &
Future
BUDGET CONSTRAINTSItem Distributor Quantity Unit Cost Total cost
PN532 NFC/RFID controller breakout board Adafruit.com 1 39.95 $ 50.73
Encoder Opt. Rotary 64PPR digikey.com 2 25.55 $ 58.28
TI LED Lighting Drivers Mouser.com 2 4.26 $ 27.06
Arduino Micro Adafruit.com 1 22.95 $ 30.66
LSM303D 3D Compass and Accelerometer Pololu.com 1 14.95 $ 24.40
SRF02 Ultrasonic Ranger www.robot-electronics.co.uk 6 15.99 $ 135.88
Teensy 3.1 Sparkfun.com 2 19.95 $ 39.90
AltIMU-10 Gyro, Accelerometer) Pololu.com 1 17.95 $ 17.95
Infrared Proximity Breakout - VCNL4000 Sparkfun.com 1 9.95 $ 9.95
74AHCT125 - Quad Level-Shifter (3V / 5V) Adafruit.com 5 1.5 $ 7.50
MiFare Classic (13.56MHz RFID/NFC) Clear Tag Adafruit.com 25 2.25 $ 65.87
Rocker Switch (RadioShack) RadioShack 1 4.76 $ 4.76
5V voltage regulator LM7805CT Mouser.com 10 0.46 $ 4.60
PNP MOSFETS Mouser.com 10 0.912 $ 9.12
NPN MOSFETS Mouser.com 10 0.842 $ 8.42
Quad 2-Input OR logic IC Mouser.com 10 0.354 $ 13.14
Sharp Ananlog Distance Sensor 10-150cm, 5V Pololu.com 12 10.95 $ 136.85
ADS1015 12BIT 4 Channel ADC Adafruit.com 4 9.95 $ 53.64
Total $698.71
Overview Design Constraints &Risk Schedule Test Result &
Future
RISK ASSESSMENT
ID Risk Item Effect Cause
Likelihood
Severity
Importance Action to Minimize Risk Owner
Describe the risk briefly
What is the effect on any or all of the project
deliverables if the cause actually happens?
What are the possible cause(s) of this risk?
L*S
What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the
risk of this occurring?
Who is responsible for
following through on mitigation?
1
Speed Feature
If the robot is too fast we may not be able to brake quickly. Potential danger.
Possibly injury to people and damaging objects
3 3 9 Reduce the speed of the robot, but also travel at an optimal speed.
Hardware Specialist
2Failure of sensors
Possibly run into an object or person.
Robot malfunctions and causes damage to sensors. 2 3 6
Make sure all code is monitoring properly and have back up sensors.
Software Specialist
3
Failure to find
location of robot
Possibly lost robot or final destination not
reached.
RFID positioning fails or RFID sensor frequency is not
strong enough. Encoders fail. 2 2 4
Make sure encoders are functioning. Test the strength of signal for RFID. Project Leader
4Battery Failure
Robot will not move. Need new battery Life cycle 2 2 4 Plan for battery failure Manufacturer
5 Budget Ask for more money Poor planning 1 2 2 Plan better and be efficient. Project Leader
6Knowledg
e Not be able to complete
task Aiming too high 2 3 2 Understand our knowledge and learning curve Everyone
7Motivation, Desire Not wanting to work Team problems 1 2 2
Talk through problems and keep asking questions Everyone
Overview Design Constraints &Risk Schedule Test Result &
Future
SCHEDULE
Overview Design Constraints &Risk Schedule Test Result &
Future
SCHEDULE
MSD I
Review and Design
Concept Evaluation
Manual Control
Imagine RIT
MSD II
Sensors Implementation
Autonomous Function Design
Debug and Test
Documentation
Overview Design Constraints &Risk Schedule Test Result &
Future
SENSORS INSTALLATION
Sonar x6
IR x10
Encoder x2
Camera
RFID
IMU
Overview Design Constraints &Risk Schedule Test Result &
Future
SENSOR VERIFICATION
Inches Raw Data
1 593
2 873
3 860
4 735
5 599
6 519
7 483
8 437
9 399
10 352
15 214
20 133
25 112
30 93
0 100 200 300 400 500 600 700 800 900 10000
5
10
15
20
25
30
35
f(x) = 31.4966541476034 exp( − 0.00325992975052949 x )R² = 0.775111743244498
Raw Data
Raw Exponential (Raw)
Raw Output
Dis
tance
(in
ch)
Overview Design Constraints &Risk Schedule Test Result &
Future
END USER INTERFACE
Overview Design Constraints &Risk Schedule Test Result &
Future
FUTURE OPPORTUNITIES
Outdoor Navigation
Facial Recognition
User Interaction
Extend RFID Range
More
THANK YOUQ & A