1 / 20

Name: Finish Masters Thesis ID: NorthMASc Remarks:

Name: Finish Masters Thesis ID: NorthMASc Remarks:. Name: Develop a Gold Standard for Localization Technique ID: NorthMASc.035 Remarks:. Name: Develop a Localization Technique ID: NorthMASc.030 Remarks:. Name: Conduct Trials and Experiments ID: NorthMASc.040 Remarks:.

thaddeus-bryant
Download Presentation

Name: Finish Masters Thesis ID: NorthMASc Remarks:

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Last Updated: 19 Jun 2008 Name: Finish Masters Thesis ID:NorthMASc Remarks: Name:Develop a Gold Standard for Localization Technique ID:NorthMASc.035 Remarks: Name:Develop a Localization Technique ID:NorthMASc.030 Remarks: Name:Conduct Trials and Experiments ID:NorthMASc.040 Remarks: Name: Work on theHost Computer and Base Station ID:NorthMASc.020 Remarks: Name: Validate Experiments ID:NorthMASc.050 Remarks: Name:Build Robot ID:NorthMASc.010 Remarks: Name: Publish Results ID:NorthMASc.060 Remarks:

  2. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  3. Last Updated: 19 Jun 2008 Name: Build Robot ID: NorthMASc.020 Remarks: build a three-wheeled robot suitable for experiments in indoor and outdoor terrain. Name: Build Chassis ID:NorthMASc.010.0010 Remarks: Name: Sensors ID:NorthMASc.020.0050 Remarks: special wheel encoders (two) for the slave caster… Name: Construct Driveline ID:NorthMASc.010.0020 Remarks: Name: Power Distribution ID:NorthMASc.020.0060 Remarks: batteries for everyone! Name: Build Slave Caster ID:NorthMASc.020.0030 Remarks: Marty will help build this using a four-slip-ring config for the wheel encoder. Name: Safety Systems ID:NorthMASc.020.0070 Remarks: fault-tolerance? Prevent tip-over and other problems? Name: Find and Incorporate an on-board uC ID:NorthMASc.020.0040 Remarks: Name: Communication ID:NorthMASc.020.0080 Remarks: Marc Adam to help with this?

  4. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  5. Last Updated: 19 Jun 2008 Name: Find and Incorporate an on-board uC ID: NorthMASc.020.0040 Remarks: Name: Select a Suitable uC ID:NorthMASc.020.0040.005 Remarks: the microcontroller development board should have an RTOS (RTLinux?), and have suitable interfacing for several timing/encoder/analog/PWM channels. Name: Develop a Comm Link for Control Commands/Status ID:NorthMASc.020.0040.020 Remarks: to/from the human operator (teleoperation) Name: Develop Real-Time Data Capture ID:NorthMASc.020.0040.025 Remarks: obtain multi-sensor data in real-time and stream to the host using the telemetry package. Name: Host-to-Target Programming and Debugging ID:NorthMASc.020.0040.010 Remarks: JTAG? BDM pod or wiggler? Name: Localization Engine ID:NorthMASc.020.0040.030 Remarks: on-board, real-time localization... Name: Build a Telemetry and Logging Package for the uC ID:NorthMASc.020.0040.015 Remarks:

  6. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  7. Last Updated: 19 Jun 2008 Name: Work on theHost Computer and Base Station ID: NorthMASc.020 Remarks: find and develop software on a PC to interact with the mobile robot, experiments and human operator. Name: Obtain Development Environments ID:NorthMASc.020.0010 Remarks: Name: Communications ID:NorthMASc.020.0020 Remarks: Name: Operator Interface ID:NorthMASc.020.0030 Remarks: build an interface between the operator and robot to allow the operator to control the robot remotely. Name:Program for Sending/Receiving Data from uC ID:NorthMASc.020.0020.005 Remarks: Name: IDE for Target uC on-Board Robot ID:NorthMASc.020.0010.005 Remarks: Name: Development Environment for Localization Technique ID:NorthMASc.020.0010.010 Remarks: Name:Program for Sending/Receiving Data within Host PC ID:NorthMASc.020.0020.010 Remarks: Name: Scientific Analysis Toolkit ID:NorthMASc.020.0010.015 Remarks: for validating/verifying results from experiments. Name: Find a BSP ID:NorthMASc.020.0010.020 Remarks: for hardware on-board the target uC.

  8. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  9. Last Updated: 19 Jun 2008 Name: Develop a Localization Technique ID: NorthMASc.030 Remarks: implement a technique for improving the localization of a wheeled mobile robot operating in several terrains. Name: Investigation/Theoretical Considerations ID:NorthMASc.030.0010 Remarks: Name: Preliminary Simulation of Technique ID:NorthMASc.030.0020 Remarks: Name: Conduct technique using Experimental Data ID:NorthMASc.030.0030 Remarks: Name: Validate Technique ID:NorthMASc.030.0040 Remarks: statistically significant improvement compared to other approaches? Name: Conduct Literature Survey ID:NorthMASc.030.0010.005 Remarks: Name: Develop a Model or Basis of the Proposed Technique ID:NorthMASc.030.0010.010 Remarks: Name: Verify the Model is Acceptable ID:NorthMASc.030.0010.015 Remarks: conduct one or more “benchmark” tests to prove the validity of the model and/or technique.

  10. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  11. Last Updated: 19 Jun 2008 Name: Develop a Gold Standard for Localization Technique ID: NorthMASc.035 Remarks: implement a technique for verifying the accuracy and performance of the proposed technique. Name: Purchase Equipment ID:NorthMASc.035.0010 Remarks: Name: Design and Interfacing ID:NorthMASc.035.0020 Remarks: Name: Gather Data and Verify Operation ID:NorthMASc.035.0030 Remarks: Name: Integrate with Other Systems ID:NorthMASc.035.0040 Remarks:

  12. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  13. Last Updated: 19 Jun 2008 Name: Conduct Trials and Experiments ID:NorthMASc.040 Remarks:conduct several experiments to verify the effectiveness of the localization technique for the mobile robot. Name:Preliminary Evaluation ID:NorthMASc.040.0010 Remarks: Name: Robot Calibration and Preparation ID:NorthMASc.040.0020 Remarks: Name:Experiment Preparation ID:NorthMASc.040.0030 Remarks: Name:Conduct Experiments ID:NorthMASc.040.0040 Remarks: Name: Gather Data ID:NorthMASc.040.0040.005 Remarks:allow robot to move through several regions and collect data on the performance of the localization engine. Name:Suitability of Chassis over Various Terrain ID:NorthMASc.040.0010.005 Remarks:conduct trials in several environments to assess suitability of the wheeled mobile robot for future experiments. Name:Trials to Remove Systematic Errors ID:NorthMASc.040.0020.005 Remarks:conduct the UBMark test to identify and null the systematic errors. Name: Terrain Recce ID:NorthMASc.040.0030.005 Remarks:assess several locations for experiments in localization of a wheeled mobile robot. Name:Set-up of Test Sites ID:NorthMASc.040.0030.010 Remarks:liaise with CivEng dept to arrange for testing/surveying of outdoor (and indoor?) environments. Name: Assess Core Functions ID: NorthMASc.040.0010.010 Remarks: validate that telemetry between robot and host is working.

  14. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  15. Last Updated: 19 Jun 2008 Name: Validate Experiments ID: NorthMASc.050 Remarks: Name: Consolidate and Process Experimental Data ID: NorthMASc.050.0010 Remarks: perform any necessary processing such as linearization, least squares fitting, etc. Name: Compare Data ID:NorthMASc.050.0020 Remarks: use T-Test, mean, STD, Parametric ANOVA, etc to analyze the data for its statistical significance. Name:Discuss Results ID:NorthMASc.050.0030 Remarks: explain the significance of the data in relation to theoretical models and calculations. Do the results agree with the models?

  16. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  17. Last Updated: 19 Jun 2008 Name: Publish Results ID: NorthMASc.060 Remarks: Name: Write Thesis ID: NorthMASc.060.0010 Remarks: Name: Write Conference Paper(s) ID:NorthMASc.060.0020 Remarks:

  18. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

  19. Last Updated: 19 Jun 2008 Name: dd ID: ff Remarks: gg Name: ee ID:ee Remarks: dd ---TEMPLATE PAGE---

  20. Last Updated: 19 Jun 2008 --- This Page Intentionally Left Blank ---

More Related