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ECE 477 Final Presentation Team 19 − Spring 2014. Left to right: Ningzhe Jiang, Yukun An, Xuetao Kang, Mingfei Huan g. 5/07/2014. 1. Project Overview.

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ece 477 final presentation team 19 spring 2014

ECE 477 Final Presentation Team 19 − Spring 2014

Left to right: Ningzhe Jiang, Yukun An, Xuetao Kang, Mingfei Huang

5/07/2014

1

project overview
Project Overview

The Room Mapping Robot project is designed to help surveying and mapping an indoor structure. It has the ability to display point cloud model of 3D indoor structure. It can be remotely controlled via Wi-Fi on a PC. Auxiliary functions like battery monitor, avoiding obstacles and trajectory display are available to help the user.

5/07/2014

2

project motivation
Project Motivation

Often detailed indoor structures are essential to activities such as indoor construction and layout display. Comparing to the traditional solution of indoor surveying and mapping, our design, the Room Mapping Robot will be a fast and easy solution to this matter.

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3

block diagram
Block Diagram

5/07/2014

4

technical design challenges
Technical Design Challenges
  • Hardware
    • 5 different voltage levels
    • Component placement on PCB
    • Regulator and H-bridge over heating
  • Software
    • I2C Peripheral Programming
    • Rover trajectory calibration
    • Rover trajectory calculation
    • GUI Keyboard Debouncing

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5

individual contributions
Individual Contributions
  • Team Leader – Mingfei Huang
  • Team Member 2 – Yukun An
  • Team Member 3 – Ningzhe Jiang
  • Team Member 4 – Xuetao Kang

5/07/2014

6

team leader mingfei huang
Team Leader – Mingfei Huang
  • Setup Cubieboard and Kinect driver
  • Complete Wi-Fi communication software protocol
  • Developed microcontroller control sequence
  • Developed shaft encoder trajectory calculation
  • Completed avoid obstacle functionality
  • Completed Microcontroller UART and I2C interfacing

5/07/2014

7

member 2 yukun an
Member 2 – Yukun An
  • Made the schematic of the design.
  • Designed the PCB for ourproject.
  • Solvedany hardware issues duringtesting phase:
    • Heat dissipation problem of the voltage regulators
    • Added additional circuitry needed that was not in the PCB
    • Testing circuits for DC motor and stepper motor
  • Packaging of the project
  • Worked on the PWM and ADC stand-along code on the Microcontroller.

5/07/2014

8

member 3 ningzhe jiang
Member 3 – Ningzhe Jiang
  • Designed the whole  control panel GUI and implemented all its functions
  • Set up the interfacing between the GUI and the Cubieboard.
  • Solved key debouncing problem caused by holding a key
  • Development of point cloud generation and combining algorithm and 3D visualization
  • Made accurate tests, measurements and calibrations to improve the quality of the output 3D model

5/07/2014

9

project demonstration
Project Demonstration
  • 1. An ability to remotely control the operation from the user interface.
  • 2. An ability to recognize location of device in the indoor structure
  • 3. An ability to monitor the status of the battery on the user interface.
  • 4. An ability to avoid obstacles from data collected by the robot.
  • 5. An ability to construct 3D indoor structure model using data from Kinect.

5/07/2014

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