poster id 11 tesla summon auto-pilot robotics · 2017. 7. 23. · tesla summon auto-pilot robotics...
TRANSCRIPT
Poster ID 11
Tesla Summon Auto-Pilot Robotics
Mason Chen
ID-11 2017 IEOM STEM Poster Competition 1 © IEOM Society International
Project Introduction
• What is Tesla Auto-Pilot?
– Self-Parking Technique
– Self-Driving (Labor Saving)
– Less Pollution (Green Energy)
– Save Parking Space (more packed parking)
• Used Lego EV3 Robot to simulate Tesla self-parking Car
– Use Ultrasonic sensors to calculate the drive space
margin and park car accurately
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Define Tesla Summon Objectives • To self-park quickly and safely.
• To be reliable and accurate in a tiny parking space.
• To be economic and less pollution.
• We conducted project benchmarking by comparing
Tesla self-parking and Lego Robotics self-parking:
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Design Robotics Architecture
The ultrasonic sensor was the biggest concern.
• Soft objects absorbed sound waves and weaken the returning signal.
• Round or angled surfaces were hard to return the waves in focus.
• Ultrasonic Sensors can’t sense at 45 degrees (dead angle).
• Objects within 3 cm could not be sensed correctly (dead zone).
We used 3 ultrasonic sensors to resolve the above problems
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Design Field & Robot Architecture
• Design U-Shape Parking Field
• Central foam wall flat and hard
• Back wheel to the ball design
• Ball wheel closer to mass center
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Design EV3 Parking Algorithm
Left sensor distance < 8cm
Turn Right at 50% & at 50% speed
Yes No
Front sensor distance <
15cm
Turn Right at 40% & at 50% speed
Yes
No
Right sensor distance < 4cm
Turn Left at 30% & at 50% speed
Yes
No
Turn Left at 5% & at 50% speed
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(1)Zone A: start U turn= 3.4 seconds
(2)Zone B: complete U turn= 3.8 seconds
(3)Zone C: parking= 1.9 seconds
Conduct Baseline Capability Analysis
U Turns
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• Reduce 50% Cycle Time from 9.1s to 4.5s
• Won’t trade Safety for Cycle Time Reduction
• Front Sensor at Parking (last 5 points in Zone C)
• 50% reduction from 7.1cm to 3.5+/-0.25cm
• Ultrasonic Dead Zone Constraint ≥ 3cm
• Right Sensor Distance Safety Margin (Zones A & B):
• 25% reduction from 8.6cm to 6.5cm
• Very difficult change due to Ultrasonic Dead Angle limitation
• Right Sensor Parking Safety Margin (last 10 points in Zone C):
• 45% reduction from 10.1cm to 5.5+/-0.5cm
• Avoid slanting parking pattern
• Robot Weight (Energy Saving):
• 30% Robot weight reduction from current 910g - 700g
Set Performance Metrics and Goals
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Improve Hardware Design
• Design Two-Stage EV3 Algorithm
– Zone A and Zone B in stage I, and
Zone C in stage II
– Design special parking algorithm in
stage II to improve safety
• Set Left Ultrasonic Sensor at 45 Degrees
to avoid Dead Angle
• Move both Left/Right Ultrasonic Sensors
forward to trigger earlier U turns, and
earlier parking preparation 9 ID-11 2017 IEOM STEM Poster Competition © IEOM Society International
Improve Battery Design
Replaced 6 “AA” Batteries with a Rechargeable Lithium
Battery.
• Trim 71gms to 673gms to meet Weight criteria < 700gms
• Lifetime Cost-Benefit Analysis:
– Extra One-Time $50 charge with Lithium Battery but reduce the
overall Lifetime Cost since Lithium Battery can last longer
– Larger battery charge capacity to improve Reliability
– Reduce Cycle Time from 9.1s to 8.5s
– It’s Worthy to Spend $50 in front
– Payback period is probably < 5K miles
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Improve Tire Design
Choose the right tire size to improve Cycle Time
• Large Size won’t work due to too wide 3.5cm tire width (side safety
margin concern, and U-turn challenging)
• Extra-Small Size won’t work because the too slow linear velocity due
to 2cm diameter
• Choice between Small Size and Medium Size
– Linear Velocity determined by tire diameter: 4cm vs. 5.5 cm
– U Turn Side Margin determined by tire width: 2cm vs. 2.5cm
– Small Robot Weight Impact by tire weight: 15.3gm vs. 22.6gm (2% impact)
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Improvements:
• Gage Repeatability
& Reproducibility
• Process Capability
(Cp)
• Process Stability
• Avoid Dead Zone
and Dead Angle
Fix Initial Condition
Problem Statements:
• Performance not repeatable
• Unexpected early movement
adjustments
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Improved cycle time to 3.4s (meet < 4.5s criteria)
(1) Pattern is similar to baseline but shorter at no safety risk
(2) Design Changes: Lighter Robot, Earlier U-Turn & Medium Tire
Analyze Cycle Time Reduction
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Need the following improvements:
(1) Front sensor parking safety margin in (3.25-3.75cm).
(2) Right sensor side safety margin (< 6.5cm).
(3) Right sensor parking safety margin in (5-6cm).
We need Optimize Phase
Optimization Strategy
• Trade longer parking time to parking safety margin
• Minimize any dead angle transition time by optimizing EV3 algorithm
while making smaller and quicker U-turns to improve side margin
• Further optimize the EV3 parking thresholds to improve the parking
safety margin 14 ID-11 2017 IEOM STEM Poster Competition © IEOM Society International
Allow 0.1s parking to adjust the slanted pattern.
Modify the safety margin range while considering the dynamic parking.
Meet 5-6cm safety margin window.
Right Sensor Parking Margin Optimization
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We have met all five requirements.
Project Achievements Summary
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Project Completion and Summary
Team Achievements:
• Understood Ultrasonic Sensor Dead Angle and Dead Zone
• Optimized three Ultrasonic Sensors
• Integrate and Optimize both EV3 Algorithm and Robot Architecture
• Use Minitab Statistics to discover Robot motion patterns
• Believe in Team Building and Data-Driven Leadership
Continuous Improvement Opportunities:
• Linear and gradient parking algorithm
• Add another sensor (Color or/and Gyro)
• Design slanted Parking Field
• Study Battery Power Reliability Modeling
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