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LTU H 2 Bot II

LTU H 2 Bot II. Team Members: Marcus Randolph, Brace Stout, Gary Givental. Presentation Outline. Hardware Design Updates Performance Software Design Simulation Demo. Hardware Features. Inter-changeable power source Fuel Cell Module Battery Module PCB Power distribution

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LTU H 2 Bot II

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  1. LTU H2Bot II Team Members: Marcus Randolph, Brace Stout, Gary Givental

  2. Presentation Outline • Hardware Design • Updates • Performance • Software Design • Simulation Demo

  3. Hardware Features • Inter-changeable power source • Fuel Cell Module • Battery Module • PCB Power distribution • Fail-safe Brakes • LIDAR, Camera, Compass, DGPS, Encoders • New 3CCD camera • Compass location changed • DGPS antenna location changed

  4. Performance • Curb Climbing: minimum 2.5” curb • Max Speed: 4.2 mph • Power Consumption: 50-150W • Range: Fuel Cell 8 hrs, Battery 5 hrs • Failsafe Brake Capacity: > 30% grade • LIDAR Range: 8.1m

  5. Key Software Features • Completely Redesigned Software for 2007 • JAUS Challenge • Navigation Challenge • Autonomous Challenge • Modular components • Simulator Software

  6. JAUS Challenge • JAUS module is a plug-in • Extensible to support more commands • Development Process • Learning message architecture • Tested with JCTS test suite • Integration with H2Bot modules

  7. Navigation Challenge

  8. Autonomous Challenge

  9. Color Recognition • RGB / HSV • Closest Color • Threshold Based

  10. Sensor Fusion • LIDAR fused with video input • Integrated using Fuzzy Logic • Weighted inputs • Fuzzy Rules are represented by Area Maps • Rules determine sensor precedence

  11. H2Bot Simulator • Why build a simulator? • Platform Availability • Concurrent Development • Seasonal Considerations

  12. H2Bot Simulator Design Goals • H2Bot Interface Compatible • Drop-In replacement for actual hardware • Realistic Response to Control Inputs • Configurable / Extensible • Different courses • Obstacle placement • Different platforms • New devices

  13. H2Bot Simulator Design Simulator Interface Motor Drive & Platform Inertia Modeling Position & Heading Update Right/Left RPM 3D Environment Modeling Position Heading Hardware Abstraction Layer Motor Control Shaft Encoders GPS Position Compass Heading Video Images Laser Measurement

  14. H2Bot Simulator Approach • Hardware abstraction layer • Devices characterized with Java™ interfaces • Physical and simulated device classes implement the same interfaces • Low-cost development using freely available software • Java 3D (for 3D simulation) • Blender (for 3D modeling)

  15. H2Bot Simulator Challenges • Timing • Problem: 3D calculations can use lots of CPU so simulation may not proceed in real-time • Solution: Simulation time is tied to video frame generation. All processing occurs based on simulation time. • Realistic environment • Actual camera images used as textures

  16. Summary • Innovation • Vehicle Simulator • Dual Power Modules • Modular/Object-Oriented Software Design • Questions / Answers

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