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iWheels

iWheels. Overview. Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning Jaus Innovations Q & A. Team Introduction. iWheels Design Concept.

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iWheels

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  1. iWheels

  2. Overview • Team Introduction • Design Concept • Mechanical Design • Electrical Subsystem Design • Software Platform Design • Stereo Vision • Path Planning • Jaus • Innovations • Q & A

  3. Team Introduction

  4. iWheels Design Concept • An Invacare motorized wheelchair was used as a chassis for our robot • The platform was chosen to be a cost effective reliable base for software development • Emphasis on Software Development specially JAUS • Proprietary Stereo Vision System

  5. Mechanical Design & Fabrication • T-slot aluminum case • Clear acrylic housing for electrical systems • Aluminum battery tray

  6. Electrical Subsystems Design • Arduino D/A interface to motor controller • Switching circuit for standard or PC control • Powered by four 12 volt 35 aH batteries

  7. Platform Software Design • Revamp from last year’s platform • Simplified UI with diagnostics • Public News Stand • Single access point for system information • Sensors (GPS, Compass, etc) • Point of communication for subsystems

  8. Stereo Vision System • Low cost web cameras. • Open source stereo vision software (Emgu, C# wrapper for OpenCV)

  9. Location of the cameras

  10. Disparity, Rectified, and Obstacle Images Disparity Image Left Camera Rectified Image Obstacle Image

  11. Path Planning: iWheels

  12. Origin Message Parser Message Packer GUI Input Request System Commands JAUS Module JUDP Module COP Response End Point GUI Display External Components Internal Components JAUS Data Flow Diagram (Overview) JAUS Software Design

  13. JAUS Software Design(JAUS Challenge) SAE 5710 (Page 16)

  14. JASU Software Design & Test(JAUS Challenge)

  15. Innovations • Reduced cost (time and money) • Compact, simple, and reliable design • Light weight • Low power • Proprietary Stereo Vision Camera image processing • Platform independent COP for JAUS

  16. Q & A

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