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ALVIN II FROM DESIGN TO FINISH

ALVIN II FROM DESIGN TO FINISH. Ninth Annual International Ground Vehicle Competition June 2, 2001. TRINITY COLLEGE. Team Organization. Design Objectives. Vehicle Dimensions : 3ft x <32 inches x 2 ft with the camera at 3 - 4 ft. Vehicle weight without payload: < 110 lbs

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ALVIN II FROM DESIGN TO FINISH

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  1. ALVIN IIFROM DESIGN TO FINISH Ninth Annual International Ground Vehicle Competition June 2, 2001 TRINITY COLLEGE

  2. Team Organization

  3. Design Objectives • Vehicle Dimensions: 3ft x <32 inches x 2 ft with the camera at 3 - 4 ft. • Vehicle weight without payload: < 110 lbs • Payload: 20 lbs. Payload (18" x 8" x 8" ) • Propulsion: Bilateral stepper motor drive implementing differential steering. • Power: 12V lead-acid cells (life of at least one hour). • Maximum speed: 3 mph. • Emergency stop: • Mechanical: Red mushroom type switch • Remote: operating range of 300 ft. • Stopping Distance: 1m at maximum speed.

  4. Sensory system: Vision system. • Greater than 10 frames per second. • detect white lines painted on grass or paved road • detect obstacles from a distance of 3m. • respond to the sudden appearance of objects at a close distance • track an object in its field of view and follow. • Remote Control: • Digital remote for 8-bit serial data transmission.

  5. Task List

  6. System Description

  7. CAD Using SolidWorks

  8. ALVIN II DYNAMICS • Estop requirement: • need to stop within 1 m. • mass of vehicle = 130 lbs ( 59 Kg) • deceleration required = 0.88 m/s2 OR braking force of 52 N OR Torque required = 9.9Nm • Gear ratio = 12.3 :1 • Motor torque required = 0.81Nm. • At max speed (3 mph = 4.8 Kmh) • Motor torque = 2 Nm. • At 15° gradient, torque required = 3.1 Nm. • Turning radii • Minimum = 0 m (spin on wheel axis) • space required = 0.7 m

  9. Power Consideration • 48V for motors. (4 x12V 4.5Ah) • Max. Current drawn (3A) • Battery life > 1 hour • Power rating : 160 W max. • Computer (12V 10Ah) • Current drawn (4A - 6A) • Battery life > 1 hour

  10. Software • Vesta Basic for SBC • Visual C++ and Visual Basic for guidance system. • Sherlock32™ Machine Vision • Imaging Technology • MVTOOLS C++ Library. • MAPLE and MATLAB for development. • SOLIDWORKS FOR CAD • WinDraft and WinBoard for PCB

  11. Guidance System • TM6702 Pulnix BW progressive scan camera. • 54° cone of view. • Field of view : • 0.5m to 8m in front of the robot. • 0.4m on either side of the robot at close range. • PCVision image capture card • Imaging Technology • (40 ms capture time) • PIII 550 MHz system

  12. Camera Calibration

  13. Navigation Software

  14. Control Strategies • Line following: • Extrapolate to infinity • get angle of the robot to the line • Measure distance from line • PID control algorithm to keep at 0.7m. • Obstacle detection • Segmentation based on Object texture

  15. Guidance system Simulator • OpenGL 3D used to create a virtual obstacle course

  16. COST ESTIMATE • PLUS TAXES

  17. Acknowledgements • SPONSORS • Intelligent Motion Systems • Superior Electric Inc. • Imaging Technology Inc.. • Teknicircuits Inc. • Transportation Engineer: • Sheldon “Chris” Provost.

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