Innovation and Design Excellencefrom

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 IntroductionPaul Wright, BSTM -Team Leader

Ryan Mathews, BSCS -Programming Team LeaderJonathan Ruszala, BSRE -Electrical Design Leader

CJ Chung – Faculty Advisor

Mechanical TeamPaul Wright – BSTM

Stephen Osterhoff BSBMEPhilip Bigos– BSRE

Anthony Knapp– BSRE

Path Planning Team

Dan McGee – BSEEDaniel Anderegg – BSCS

JAUSRyan Matthews – BSCS

Global GridJonathan Nabozny – BSCS

Vision Processing

Christopher Kawatsu, MSCS

Jiaxing Li, MSCS

Taiga Sato , MSCS

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

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

Previous Design History• Reliability & Maintainability– Durable materials– Modular construction– Passive sensors

• Small footprint– Increased maneuverability– Ease of testing

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

New PlatformDesign Process

•Built Sensor Test Cart for sensor development

Stereo Vision System

• Low cost web cameras.• Open source stereo

vision software (Emgu, C# wrapper for OpenCV)

Disparity, Rectified, and Obstacle Images

Disparity Image

Obstacle Image

Left Camera Rectified Image

Global Grid:Configuration

Sampled Coordinates: 42.67994, -83.1957842.67990, -83.1942042.67798, -83.1956542.67788, -83.19411

Grid Bounding Lines:North = 42.67994South = 42.67788East = -83.19411West = -83.19578

Global Grid:Configuration

Global Grid:How It Works

Path Planning:

Software Design(JAUS Challenge)

Message Manager

PayloadHeader Message

Component ControlElement Local Pose

Report Identification

ServicesStatus Velocity

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

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

Summary

Evolutionary Design through Continuous Improvement

Q & A