iwheels. overview team introduction design concept mechanical design electrical subsystem design...
TRANSCRIPT
Overview
• Team Introduction• Design Concept• Mechanical Design• Electrical Subsystem Design• Software Platform Design
• Stereo Vision• Path Planning
• Jaus• Innovations• Q & A
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
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
Mechanical Design & Fabrication
• T-slot aluminum case• Clear acrylic housing for electrical systems• Aluminum battery tray
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
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
Stereo Vision System
• Low cost web cameras.• Open source stereo
vision software (Emgu, C# wrapper for OpenCV)
Location of the cameras
Disparity, Rectified, and Obstacle Images
Disparity Image
Obstacle Image
Left Camera Rectified Image
Path Planning:
iWheels
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
JAUS Software Design(JAUS Challenge)
SAE 5710 (Page 16)
JASU Software Design & Test(JAUS Challenge)
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
