iwheels. overview team introduction design concept mechanical design electrical subsystem design...

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Page 2: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Overview

• Team Introduction• Design Concept• Mechanical Design• Electrical Subsystem Design• Software Platform Design

• Stereo Vision• Path Planning

• Jaus• Innovations• Q & A

Page 3: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Team IntroductionName Course

of Study

Role(s)

Jonathan Nabozny

BSCS Software, Team Leader

Ryan Matthews

BSCS Software, Mechanical, and Electrical

Jonathan Ruszala

MSCS Software, Mechanical, and Electrical Advisor

Christopher Kawatsu

MSCS Software Advisor

CJ Chung PhD, CS Faculty Advisor, Project Manager

Page 4: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

iWheels Design Concept• An Invacare motorized wheelchair was used as

a chassis for our robot• The platform was chosen to be a cost effective

reliable base for software development• Emphasis on Software Development specially

JAUS• Proprietary Stereo Vision System

Page 5: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Mechanical Design & Fabrication

• T-slot aluminum case• Clear acrylic housing for electrical systems• Aluminum battery tray

Page 6: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Electrical Subsystems Design

• Arduino D/A interface to motor controller• Switching circuit for standard or PC control• Powered by four 12 volt 35 aH batteries

Page 7: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Platform Software Design

• Revamp from last year’s platform• Simplified UI with diagnostics• Public News Stand– Single access point for system information• Sensors (GPS, Compass, etc)

– Point of communication for subsystems

Page 8: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Stereo Vision System

• Low cost web cameras.• Open source stereo

vision software (Emgu, C# wrapper for OpenCV)

Page 9: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Location of the cameras

Page 10: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Disparity, Rectified, and Obstacle Images

Disparity Image

Obstacle Image

Left Camera Rectified Image

Page 11: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Path Planning:

iWheels

Page 12: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

JAUS Software Design

JAUS Data Flow Diagram (Overview)

Internal Components

JAUS Module

Request

Response

External Components

GUI Input

Origin

GUI Display

End Point

COP

Message Parser

Message Packer

JUDP Module

System Commands

Page 13: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

JAUS Software Design(JAUS Challenge)

SAE 5710 (Page 16)

Page 14: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

JASU Software Design & Test(JAUS Challenge)

Page 15: IWheels. Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning

Innovations

• Reduced cost (time and money)• Compact, simple, and reliable design• Light weight• Low power• Proprietary Stereo Vision Camera image

processing• Platform independent COP for JAUS