ieee robotics - requirements presentation presented by jason abbett and devon berry
TRANSCRIPT
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IEEE Robotics - Requirements Presentation
Presented by Jason Abbett and Devon Berry
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Competition
• Purpose of the robot
• Brief overview of the competition
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Competition Requirements
• Drive system
• Navigation sensor(s)
• Color sensor(s)
• Manipulator
• Processor / software
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Warehouse Layout
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Time Penalties
• Container does not remain upright (15 sec)
• Container moved to wrong room (30 sec)
• Dropped containers (10 sec)
• Contact with walls (5 sec)
• Staying in starting room (disqualified)
• Leaving course boundary (disqualified)
• Harmful contact with worker (15 sec)
• Moving a worker (15 sec)
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System Requirements
• 16 inches x 16 inches x 36 inches
• Autonomous
• Safety
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X-port Microcontroller with Development Kit
• 32-Bit ARM CPU (110 Mhz)
• FPGA hardware implementation
• Programmable in C++
• 4MB Flash Memory
• 16 digital input/output ports
• 8 analog input/output ports
• 4 motor ports
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Hardware Architecture
• Frame– 10’’ x 11’’ x 12’’– Laser cut Lexan– Stable– Expandable
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Hardware Architecture
• Motors
• Servos
• Manipulator
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Hardware Architecture
• Sensors– Sonar– Light– Camera– Mouse– Touch
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Hardware Architecture
• Controller– Inputs– Outputs– Battery Pack
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Software Architecture
Evolutionary Prototype Model
Build prototypesystem
Develop abstractspecification
Use prototypesystem
Deliversystem
Systemadequate?
YES
N
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Classes
• Localization– Mouse
• Light Sensors– Line following
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Classes
• Motors– Microcontroller I/O– Forward/Reverse Movement– Turning on a dime
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Classes
• Claw– Closes when triggered– Determined by camera and sonar
• Sonar
• Camera– Uses RGB values
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Modules
• Line following
• Error correction
• Locate Can
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Software Applications
• XPort sdk package– cygwin bash shell– RTOS (real time operating system)
• C++
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Schedule
• Gantt Chart
• 9 to 11 man hours needed
ID Task Name Start Finish Duration2006
Feb AprJan Mar
1 30d2/7/20061/9/2006IO Module Implementation
16d3/9/20062/22/2006Object Identification
9 40d3/19/20062/8/2006AI Module Implementation
4d2/11/20062/8/2006Sensor Calibration
2d1/10/20061/9/2006Motors
4d4/10/20064/7/2006IEEE Tournament (San Antonio, TX)
3d1/31/20061/29/2006Sonar
10d1/26/20061/17/2006CMU Camera
4d2/7/20062/4/2006Mouse
6d1/16/20061/11/2006Servos / Manipulator
6d4/6/20064/1/2006Finalize for Tournament
3d2/3/20062/1/2006Compass
2d1/28/20061/27/2006Light Sensors
10d2/21/20062/12/2006Main / Line Following
14 81d3/30/20061/9/2006Testing
10d3/19/20063/10/2006Manipulator Control
25d5/5/20064/11/2006Manuals, Documents, etc.
16
15
17
2
3
4
5
6
7
8
11
13
10
12
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Obstacles
• Compass– Accuracy– Interference
• Debugging– Hardware or Software
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Process Plan
• Specifications
• Programming• Testing• Delivery
Build prototypesystem
Develop abstractspecification
Use prototypesystem
Deliversystem
Systemadequate?
YES
N
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Organization Plan
• Analysis
• Design– Hardware– Software
• Programming
• Testing
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Test Plan
• Modular tests
• Integration tests
• Track tests
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Potential Risks
• Hardware Changes
• Incomplete Hardware
• Interface Changes
• Design Changes
• Code Changes
• Team Member Changes
• Failure To Meet a Deadline
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Documentation
• Responsibilities– Team Decision
• Outlines– Dr. Waxman (or team decision)
• Contents– Follow outline
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Training
• Internal– Upload to XRC– Use eCos
• External– None (manuals / documentation)
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Review and Reporting
• Reviews– Determine project status
• Reports– Time logs– Status reports
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Required Resources
• Manpower
• Computer Resources
• Other Resources
• Required Software– Cygwin– Xport Dev. Kit– Xport eCos
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Project Status
• Software– Design– Motor use– eCos threading– Mouse readings
• Hardware– Motors– Compass (discontinued)– Servos– Mouse– CMU Camera
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Conclusion
• Precise, Quick, Sturdy, and Bug Free
• Support Hardware and Software Changes
• Modular
• Implementation following design and testing plans
• Regular reports and logs