Autonomous People Mover Phase II - Sensors P15242 - MSD 1 - FINAL DESIGN REVIEW 1
The Team Member Role Program Nathan Biviano Project Manager & Integration IE Madeleine Daigneau Software Design & Hierarchy CE James Danko Sensor Integration EE Connor Goss Microcontroller Integration CE Austin Hintz Camera & Sensor Integration EE Sam Kuhr Power Systems EE Benjamin Tarloff Engineering Lead & Mounting ME 2
Agenda ● Background ○ Project Background ○ Team Overlap ○ Scope ○ Customer Requirements ○ Engineering Requirements ○ Risk Assessment ● Design ○ Power ○ Sensors ○ Wiring Schematic ○ Controls ○ CAD Drawings ○ Software ○ Demo ○ Budget Update ○ MSD 2 ○ Test Plan 3
Feedback Topics ● Voltage Converter ● Arduino Due vs. Mega ● Controls Update in the Summer ● Software Please give feedback on any topics you have suggestions for. 4
Project Background The Rochester Institute of Technology wishes to re-enter the field of research in vehicle autonomy. Autonomy is becoming more and more important as automotive standards leave fewer vehicle functions to the human user. Autonomous vehicles offer significant improvements in roadway safety and traffic flow. The base of this project is the work started by the Autonomous People Mover Phase I team. 5
Team Overlap & Integration *Does not depict true amount of overlap. 6
Project Scope Phase I Phase II Phase III+ ● ● ● Remote Control Autonomous Forward Full Autonomy (forward ● Manual Override Drive & reverse) ● ● Static Object Interface with user ● Detection & Object Identification & Avoidance Avoidance ● ● Closed Course Static & Dynamic ● Remote and Manual Objects Override 7
Customer Requirements 8
Engineering Requirements 9
Risk Assessment 10
Power ● 48 V 12 V o 12V Auxiliary battery for Phase I Processing ● Introducing 225.3 W ● Max Current: 21.185 A ● 21185 mAh 49840 mAh ● Battery life 2.62 hours 1.50 hours 11
Voltage Converter Selected the VFK600-D48-S12 from previous review ● Most options cost approximately the same (~$450) or more ● Best documentation ● Fewest points of failure 12
Sensors - LIDAR ● Velodyne VLP-16 LiDAR Puck ● The puck connects directly to the interface box ● Interface box connects to Ethernet switch on internal LAN ● The VLD-16 will come with software, making this a plug and play sensor ● Ordered, arriving in July/August 13
Sensors - Ultrasonic ● MB7001 LV-MaxSonar-WR1 ● Consumer Parking Sensors ● Short range, weatherproof ● Long range, weatherproof ● Range: 0.3m to 2m ● Range: 0.3m to 6.45m ● Four possible sensors ● Three sensors across bumper ● Integrated with Arduino 14
Sensors - GPS ● GlobalSat EM-506 ● Purchased during Phase I ● Accuracy of +/- 2.5m, 1Hz ● Communicates over RS-232 serial, 4800 Baud ● NMEA-compatible ● ROS Library 15
Sensors - GPS ● We have sample code that we can work from ● We will be using waypoints ● We are currently looking into Dijkstra’s algorithm but this is more than likely outside of our scope 16
Sensors - Cameras ● Hikvision DS-2CD2032-I ● 3MP, 1080p, 30fps ● Communicates over 10/100 Ethernet ● Internal LAN on Golf Cart for connecting LIDAR, both cameras and the processing computer ● Linux support, NAS ● Delivered 17
Sensors - RADAR ● No word received from Freescale ● Not expected to be be implemented during Phase II ● If donated, will likely be integrated during Phase III 18
Processing - Desktop ● AMD A10-7850K (4 cores) ● Embedded AMD R7 Graphics ● 16GB RAM ● 120GB SSD ● 64-bit Ubuntu 14.04 ● 10x USB Ports (4x 3.0, 6x 2.0) ● 2x Gigabit Ethernet Interfaces ● DVI, HDMI, VGA ● Max Power: 145W 19
Power - Desktop ● PWR-M4-ATX ● 48V ATX Power Supply ● Onboard USB Monitoring ● Includes ATX Mounting kit with cooling 20
Processing - Microcontrollers Arduino Due x3 ● Phase I System ● Integrating GPS ● Retaining most functionality 21
Processing - Microcontrollers Arduino Mega ● Located at front of cart, connected to computer via USB ● Ultrasonic Sensors ● Dashboard lights (if necessary) ● Similar to Due, with 5V Processor 22
Processing - Microcontrollers Arduino Micro ● Located at rear of cart, connected to computer via USB ● Vtach Speed Sensor ● Received from Wandering Ambassador 23
Power Diagram 24
Wiring Schematic 25
Phase 1 Overlay 26
Wiring Diagram 27
Controls - Braking and Throttle Computer Remote Controll Actuator er Controller Braking uController Receiver Actuator Gas Pedal Motor Brake Pedal 28
Controls - Steering Radio Receiver Remote Controller uController WickedBilt Power Steering System Computer Current Steering Column 29
Dual Camera Mount Camera Bases Camera Base Plate Angled Base 30
LiDAR Mount LiDAR Ball Mount Ball Mount Base Cart Roof 31
Computer Mount 32
Polycarbonate Windshields • Polycarbonate 3/16 in. thick 33
Software Diagrams 34
Software Diagrams 35
Software Diagrams 36
Software Diagrams 37
Software Diagrams 38
Software Diagrams 39
Polysync vs. ROS Update 40
Polysync vs. ROS Update 41
ROS Demonstrations 42
Bill of Materials/Budget ● Current Budget Remaining: $1,285.00 ● After Estimated Costs: $195.51 43
Bill of Materials/Budget 44
MSD 2 Plan ● Test Velodyne LiDAR to read output & setup ROS Nodes* ● Test Arduino Mega for proper functionality* ● Test power converter to make sure outputs 12V w/ min ripple* ● Mark cart for sensor placement* ● Test controls for functionality* ● Create detailed plan for the semester of MSD 2* ● Mount sensors ● Connect sensors, arduinos, computer *Done within first 2 weeks of MSD 2 45
Test Plan 1. Measure all lines for proper signals and 11. Test the ultrasonic sensors on accuracy for ensure all connections are properly made. different materials, distances, and angles 2. Power up only essential systems and run a 12. Figure out how the lower quality ultrasonic signals check. sensors work 3. Run simplified codes to ensure proper 13. Test radar for accuracy for different circuit operation prior to hooking up to materials, distances, and angles physical systems. 4. Begin by testing only individual systems to ensure safety. 5. Test control system code at standstill conditions for steering and braking prior to introducing throttle system. 6. Test Throttle and Steering Integrated Control system without steering control system (manually steering) 7. Test Steering Control System without throttle or Brake. 8. Integrate All control system with low limit on speed (2mph) 9. Slowly Ramp up speed to 5mph and possibly higher time depending 10. Re-characterize golf cart and begin to smooth out and non-ideal behavior 46
Test Plan 14. Test LiDAR for accuracy for different materials and 25. Test to see what inputs are needed to get the brakes distances to work properly 15. Record LiDAR and Camera Data during test drive 26. Test to see what inputs get what steering outputs (wheel position) 16. Test GPS for accuracy 27. Test holes in roof to ensure waterproof seals. 17. Test GPS waypoint program for GPS navigation (after testing controls) 18. Test obstacle detection (with cardboard box) 19. Test obstacle avoidance 20. Test path detection 21. Test calibration process to ensure everything is calibrated correctly 22. Test to see if E-stop is working properly 23. Test to see if Radio controller is working properly 24. Test to see speed vs voltage for throttle 47
Feedback ● Can we purchase the 48V to 12V converter? ● Can we purchase the Arduino? (Do we need to order?) 48
Questions? 49
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