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Autonomous People Mover Design Review

This design review discusses the goals, stakeholders, requirements, and concerns of the Autonomous People Mover project, as well as the path forward for Phase VI.

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Autonomous People Mover Design Review

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  1. The PathfindersMSD-19241APM Phase VI-Design Review 1 Primary Customer: Dr. Ray Ptucha Faculty Guide: Dr. Alexander Loui

  2. Team Roles

  3. Design Review Agenda • Team Values • Project Background • Problem Statement/Goals • Stakeholders and Key Deliverables • Use Case Example • Customer Requirements • Engineering Requirements • Project Concerns • Path Forward and Project Plan

  4. Team Values & Rules • Safety comes first!! • Design changes that may risk safety this will not be pursued • All teammates must be punctual, if not, communicate any conflicts • Respect all inputs/opinions • Fulfill given responsibilities/deliverables (If you need help, ask) • Work as a team, we all have the same goal • Any major changes to the project are to be discussed and voted on • Any major conflicts within the team to be discussed with guide and escalated as needed

  5. What is an Autonomous People Mover? • A small low speed vehicle designed for campus transportation • The vehicle picks up passengers and takes them to their destination across a campus institution • The APM performs this task using a network of different subsystems that include a large array of sensors, hardware interfaces, mechanical systems, and machine learning algorithms • A tool to be used for future research in larger scale autonomous vehicles

  6. The Autonomous People Mover (APM) • Desired State (End of Phase 6): • The APM shall be able to path find, navigate path, and avoid objects with a high degree of safety. • Current State (Phase 5): • Hardware and mechanical systems integrated by past senior design teams • The APM has the ability to roam autonomously with a limited degree of safety.

  7. Current State Path Finding and Object Avoidance Path Finding Object Avoidance Good Documentation & Software Modularity Performance and Handling

  8. Desired State Value add of Phase VI Path Finding and Object Avoidance Path Finding Object Avoidance Good Documentation & Software Modularity Performance and Handling

  9. The Two Pillars (Goals) • Pathfinding (Localization & Point-to-Point Navigation) • Identify a path to a destination • Move on that path towards the destination • These paths can be preset (only one needed) • Object avoidance • Improvements to safety • Able to avoid hitting basic objects when in path or entering path • Able to perform different actions based on the type of object: • Objects falling from sky: snow, rain, hail - Keep moving forward • Block-able objects - alternate the path to avoid hitting object • Moveable objects - based on the speed and the direction of the object to determine an alternate path  

  10. The Two Foundations (Supporting Goals) • Code and documentation cleanup • Ensure our team continues to document everything developed on the APM as well as re-organize past team work. • Fix and improve any previously written code • Handling • Reduce input latency • Improve the APM’s ability to dynamically turn

  11. Stakeholders • Rochester Institute of Technology • Sponsors (Dr. Ptucha, D3) • Imagine RIT Attendees • Future APM Phases • Two main deliverables of this project: • Create a functional demonstration of vehicle autonomy for Imagine RIT in 2019 • Further develop on an open source autonomous vehicle platform for the purposes of academic research

  12. Use Case Example

  13. Customer Requirements • Point to point navigation (CR3) • While avoiding objects (CR2) • Safety is our top requirement (CR4) • Map integration (CR5) • Delivering a working prototype for Imagine (CR7) • Software modularity & clear documentation for future phase reference (CR13)

  14. Engineering Requirements

  15. Project Concerns • Uncertainty of project status withhandoffgoing into MSD II • Reliant on work of CE design team (our team must have strong contingency plans) • Complexity of project • Layers of subsystems from previous phases, issues covered up over the years • Safety of the APM is reliant on our understanding of each subsystem • Making sure our team has comprehensive knowledge of previous phase work • Our main concern here is latency of the drivetrain • Our team doesn't want to interfere with current CE design teams work • Must ensure transparency between teams

  16. Project Plan

  17. Path Forward • Getting familiar with previous/current phase software & subsystems • Spending as much time as we can with the APM • Collecting data, watching CE team work with APM • Consistently meeting with CE design team • Absorbing as much information as we can from current team • Monitoring where we think the APM status will be by the end of the semester (handoff) • Set up meetings with customer and both design teams • Ensure complete transparency between all parties • Creating contingency and test plans • Having plans for the unlikely case the CE Senior Design team doesn’t meet their phase requirements

  18. The PathfindersMSD-19241 Questions?

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