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Minesweeping Robot

Minesweeping Robot. Group 25 Team Digger Robot Charles Hateley Paul Lapides Sean Gifford Dr. Chris Macnab. Team Background. Charles (ENCM) EPCM experience in Industrial Automation, Process Control, Instrumentation and Project Engineering. Paul (ENCM)

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Minesweeping Robot

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  1. Minesweeping Robot Group 25 Team Digger Robot Charles Hateley Paul Lapides Sean Gifford Dr. Chris Macnab

  2. Team Background • Charles (ENCM) • EPCM experience in Industrial Automation, Process Control, Instrumentation and Project Engineering. • Paul (ENCM) • Research in the areas of Human-Computer Interaction and Information Visualization, University of Calgary iLab. • 3 published papers • Electrical Substation verification and testing • Sean (ENEL) • Biomedical systems testing, ETH Zurich.

  3. Project Motivation and Philosophy • Challenge offered in complex integration of hardware and software systems • Understanding practical deployment of theoretical design • Sense of competition • Development of a complete platform to benefit future groups • Employ crucial software development practices for reliable and maintainable code

  4. Competition Specifications UXB Mines (38kHz IR) From The Western Canadian Robot Games Official 2006 Rulebook

  5. Product Specifications • Functional • Beacon location • End area completion • UXB collection • Mine marking • 30x30cm max footprint • Functional debugging systems • Performance • Course completion time under 3 minutes • Obstacle Avoidance • UXB collection and Mine marking on as found basis • 8 minutes of autonomy

  6. System Level Design Mechanical System Power System Debugging & Development System Servo Controller Primary Microcontroller Software 16 General Purpose I/0 Control System Secondary Microcontroller I/O Motor Controller Sensing Peripherals

  7. Component Selection Lynx Motion Tri-Track Chassis Pololu IR beacon pair Pololu micro serial servo controller Sharp IR range finder Pololu Orangutan X2 robot controller

  8. Software No suitable OS for AVR, designed custom software base Modular design Timing Sensors Servos Motors High-level functions FLIR Motor actions Beacon scanning Mine marking

  9. Concurrent Demonstration • Range Finders • Motor / Servos • Servos • Mine marker • Beacon • FLIR • Motors • Drive • Turn • Complex • Mine / Beacon • Mine sensors • Beacon Location • Mine detection and Marking • Obstacle Avoidance

  10. Beacon Advanced Obstacle Avoidance and Detection far 3 2 4 Fuzzy Logic system provides meaningful interpretation of sensor values. 5 zone FLIR (forward looking infrared) scanner 2 fixed adjacent zones Provides straightforward outcome from sensor’s non-linear function Path of Least Resistance navigation capability 180° sweeping homing beacon receiver Determines Robot’s relative position to the beacon near 1 5 close FLIR L R Beacon Receiver Sample Output F X . . X X X . N X . . X X X X C X X X X X X X SE L 1 2 3 4 5 R

  11. Search Patterns Beacon Location And Docking City Desert … 2 min

  12. Built from the treads up with testing in mind LCD with debugging information Sensor outputs FSM Status Operation Mode Complete test-bed built Duplicate Arena Infrared Mines 38.0 kHz Oscillator Testing, by Design

  13. Testing Mine System

  14. Functional Performance Results and Interpretation

  15. The Project and development process Specifications Component Selection Construction Software Development Module Design Implementation Verification (low-level tests) System Level Design Severity Revision Control Validation (high-level tests) Integration Revision Control System Acceptance Testing

  16. Project Costs, the practical explanation Alberta Equivalence Client has spent: $125,900 Company Paid: $50,600 Company Profited: $57,300 Materials and Equipment: ~ $900 (0.7% of project costs)

  17. Future Considerations • Essentially becomes a software project • We’ve provided an abstracted platform and development environment • Behavioral algorithms, mid-level Fuzzy Logic system and other control improvements. • Implementation of Motor Encoders • Accurate feedback in turning and positioning control. • 2D mapping • Wavefront Algorithm, SLAM (Simultaneous Localization and Mapping)… etc. • Determine and remember mine positions.

  18. Questions

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