National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos...
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Transcript of National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos...
![Page 1: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/1.jpg)
National Instruments Autonomous Robotics CompetitionCSEM Thesis Project 2015Joshua PetrohilosSupervisor: Nasser Asgari
![Page 2: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/2.jpg)
My role: Electrical Design• Component research• Some Mechanical Design• Circuit Design• Board Design• Wiring• Soldering• Sensor Calibration
![Page 3: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/3.jpg)
Required functions• Movement• Movement tracking• Object Detection• Unloading
![Page 4: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/4.jpg)
Movement• Navigating the course• Precise to avoid obstacles• Somewhat quick
![Page 5: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/5.jpg)
Movement - Motor• 50:1 Pololu Gear Motor• 12V, 5A• 12kg/cm Torque• Displaced shaft• Different ratios sold• Encoder
• Considered Stepper Motor• Good for Odometry• Hard to track with Omniwheels• Gear Motor is much simpler
![Page 6: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/6.jpg)
Movement – Motor Driver• Sabertooth dual 5A Motor Driver• 6V to 18V• Controls 2 motors
![Page 7: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/7.jpg)
Movement – Motion Controller• Kangaroo Motion Controller• Works with Sabertooth and MyRIO• Controlled by MyRIO• Ensures motors are working consistently• Feedback to provide tracking
![Page 8: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/8.jpg)
Movement Tracking • Encoders• Provides speed information• Checks Motors are working• Could be inaccurate with Omniwheels
• Laser mice sensor• Provides distance + speed tracking• Could provide more greater accuracy• Needs to be close to the ground• Tracks with respect to Orientation• Research to be done
• Use both to be thorough
![Page 9: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/9.jpg)
Obstacle Detection• Outer Wall• Shipping Containers• Hazard Area• Speed Bump
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Obstacle Detection• Lidar• Excellent range• Wide angle• Only takes one point at a time
• Sonar• Lower range• Less precise• Good for “bump” avoidance
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Obstacle Detection - Lidar• Lidar: URG-04LX-UG01• Quite small• Runs on USB Power (5V)• 5m range• 220 degree angle
![Page 12: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/12.jpg)
Object Detection - Sonar• HC-SR04• 5V Voltage• 2cm-450cm detection range• Used for “bump” detection• Cheap• Could use Multiple
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Unloading• Objects to be unloaded in the cargo terminals• Go over speedbump, or avoid it?
![Page 14: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/14.jpg)
Unloading• Depends on mechanical design• Research to be done• Stepper Motors• Precise, but slow• Can be geared for high torque
• Servos• High gearing would be optimal
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MyRIO• Main processor• 6-18V• Powered from Battery• Provides regulated voltages• Several Inputs/Outputs
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Breakout Board• Easy way to wire components• Can be mounted away from MyRIO• Reduces load on MyRIO• Much neater
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Relevant Milestones• Milestone 2 (4th May)• Project Proposal• Actuator/Motor control with LabView
• Milestone 3 (10th June)• Obstacle Avoidance prototype• Motors and Lidar will be required
• Milestone 4 (20th July)• Navigation/Localisation• Obstacle avoidance• Electrical Design should be finalised
• Milestone 5 (24th August)• Object Handling, Navigation and Obstacle Avoidance• Electrical Design should be fully implemented
![Page 18: National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari.](https://reader035.fdocuments.net/reader035/viewer/2022062309/5697bfd01a28abf838caa951/html5/thumbnails/18.jpg)
Thanks for listening!• Questions?
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References• Gear Motor: https://www.pololu.com/product/1444• Sabertooth: https://www.dimensionengineering.com/products/sabertooth2x5• Kangaroo: https://www.dimensionengineering.com/products/kangaroo• Lidar: https://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html• MyRIO image: http://
www.conrad.de/medias/global/ce/9000_9999/9300/9330/9337/1152106_BB_00_FB.EPS_1000.jpg
• Circuit Board image: http://www.reatechnologies.com/Images/board.jpg• Encoder image: http://
hades.mech.northwestern.edu/images/2/22/Encoder_diagram.png• Mouse image: http://
assets.razerzone.com/eeimages/categories/314/laser_sensors.png• Electrical Design slide images:
http://powertex.net.au/communities/7/004/012/525/077//images/4607841967.jpg• http://www.bioinstruments.net/ee2.png• Stepper Motor image: http://
www.automationtechnologiesinc.com/wp-content/uploads/2012/01/KL34H280-55-4A-1024x1024.jpg
• Questions image: http://en.hdyo.org/assets/ask-question-1-ff9bc6fa5eaa0d7667ae7a5a4c61330c.jpg