MULTI-SENSOR ROBOTICS PLATFORM

Team 14 :Jonathan Pham, Pritesh Solanki, Po-Han Wu,

Josh Schulte, Joseph Nguyen

Background

Design RequirementProposed Design

Block DiagramI/O Specification

Criteria

Design Requirements

Design a system using multiple sensors that interface to a TI microprocessor.

Use a Mobile Robot Platform Implement One Game & One Task Utilize Open Source Software

Proposed Design Multi Sensor System:

Microsoft Kinect Processor: Beagle

Board Mobile Robot: Roomba Game: Laser Tag Task: Intruder

Detection Open Source Software:

Microsoft SDK, TIesr (Speech

Recognition)

Multi Sensor System: Microsoft Kinect Processor: Beagle Board Mobile Robot: Roomba Game: N/A Task: Intruder Detection Open Source Software:

Open Kinect, Player TIesr (Speech Recognition)

Modified Design

System Design – Block Diagram

Beagle Board

Kinect

Voice

Video Infrared

Infrared

Roomba

Subsystem Criteria Object Recognition

• Detect object of size 3 cm by 3 cm.• At Distance of 5 feet

Movement• Moving at full speed: 250 mm/sec without hitting any

object. Speech Recognition:

• Identify the key command 80% Aim and shoot:

• Detect target within 1 meter• Within 5 sec aim at object location and shoot.• Accuracy 90%

Best Design Solution Chosen robotics platform: The

Roomba– Smooth mobility; easy to navigate

– Low-cost– UT lab provides

programming capability

– Provides stability for kinect (unlike robosapiens)

Best Design Solution Chosen sensor array: Kinect– Integrated with all

desired sensors– Unrivaled

performance– No integrated

microprocessor– Low-cost solution– Many open-source

software implementations (MSFT)

Best Design Solution Chosen microcontroller: Beagle Board

– Powered by TI OMAP3530 ARM processor

– Low-powered– Low-cost– 720MHz ARM Cortex-

A8 Core– 256 MB LPDDR RAM

memory– Contains many

desired peripherals

Intruder Detection Using Player, beagleboard will control

the movement of the roomba. Using Open Kinect, kinect will capture

video, and beagleboard will process for intruder detection.

If detected, beagleboard will stop movement and sound the alarm.