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MULTI-SENSOR ROBOTICS PLATFORM

MULTI-SENSOR ROBOTICS PLATFORM. Team 14 : Jonathan Pham, Pritesh Solanki, Po-Han Wu, Josh Schulte, Joseph Nguyen. Background. Design Requirement Proposed Design Block Diagram I/O Specification Criteria. Design Requirements.

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MULTI-SENSOR ROBOTICS PLATFORM

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  1. MULTI-SENSOR ROBOTICS PLATFORM Team 14 : Jonathan Pham, Pritesh Solanki, Po-Han Wu, Josh Schulte, Joseph Nguyen

  2. Background Design Requirement Proposed Design Block Diagram I/O Specification Criteria

  3. Design Requirements • Design a system using multiple sensors that interface to a TI microprocessor. • Use a Mobile Robot Platform • Implement One Game & One Task • Utilize Open Source Software

  4. Proposed Design • Multi Sensor System: Microsoft Kinect • Processor: Beagle Board • Mobile Robot: Roomba • Game: Laser Tag • Task: Intruder Detection • Open Source Software: • Microsoft SDK, • TIesr (Speech Recognition)

  5. Multi Sensor System: Microsoft Kinect Processor: Beagle Board Mobile Robot: Roomba Game: N/A Task: Intruder Detection Open Source Software: Open Kinect, Player TIesr (Speech Recognition) Modified Design

  6. System Design – Block Diagram Voice Video Infrared Kinect Beagle Board Roomba Infrared

  7. Subsystem Criteria • Object Recognition • Detect object of size 3 cm by 3 cm. • At Distance of 5 feet • Movement • Moving at full speed: 250 mm/sec without hitting any object. • Speech Recognition: • Identify the key command 80% • Aim and shoot: • Detect target within 1 meter • Within 5 sec aim at object location and shoot. • Accuracy 90%

  8. Best Design Solution • Smooth mobility; easy to navigate • Low-cost • UT lab provides programming capability • Provides stability for kinect (unlike robosapiens) Chosen robotics platform: The Roomba

  9. Best Design Solution • Integrated with all desired sensors • Unrivaled performance • No integrated microprocessor • Low-cost solution • Many open-source software implementations (MSFT) Chosen sensor array: Kinect

  10. Best Design Solution • Powered by TI OMAP3530 ARM processor • Low-powered • Low-cost • 720MHz ARM Cortex-A8 Core • 256 MB LPDDR RAM memory • Contains many desired peripherals Chosen microcontroller: Beagle Board

  11. Intruder Detection Using Player, beagleboard will control the movement of the roomba. Using Open Kinect, kinect will capture video, and beagleboard will process for intruder detection. If detected, beagleboard will stop movement and sound the alarm.

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