Goose Chaperone Project Team name : sddec19-17 Client/Advisor : Dr. - PowerPoint PPT Presentation

Goose Chaperone Project Team name : sddec19-17 Client/Advisor : Dr. Randall Geiger Presentation by: Johnson Phan Weston Berg Alec Morris Zhihao Cao Woodrow Scott Website URL : https://sddec19-17.sd.ece.iastate.edu/

Project Plan Problem Statement: The victims: golfers, pilots, homeowners The pest: Branta Canadensis - Canada geese The problem: ● Nesting on private property ● Attacking victims who can’t retaliate ● Damaging/Destroying equipment resulting in millions of dollars wasted Client’s Request: ● Autonomous robot in outside environment ● Employ non-lethal tactics ● Protect property from geese encroachment Goose Chaperone Project: sddec19-17

Conceptual Sketch: Goose Chaperone Project: sddec19-17

Functional Requirements: Weight/ Energy Movement Motorized Wheels Stability consumption Motor Actuator Type Goose Chaperone Project: sddec19-17

Functional Requirements: Logic Board GPS Ultrasonic Infrared Camera Goose Chaperone Project: sddec19-17

Non-functional Requirements: ● Internal logic platform-independent where possible and scalable ○ Platform-independence for future proofing ○ Scalability between different sized prototypes ● Robot can continuously operate for at least 60 minutes ○ Proof of concept not market ready design ● GPS Module frequency should be 5hz or greater ○ Allows for updates after 2 feet of movement. ● Keep cost within $400 budget ○ Set for this project ● Abide by relevant laws Goose Chaperone Project: sddec19-17

Technical/Other Constraints/Considerations: ● System resources ○ Processing speed, RAM/flash memory, # ports ● Image resolution ○ Too low = not clear, too high = more resource intensive ● Weather conditions ○ Robot’s application is outdoors ● Laws ○ Migratory Bird Treaty Act of 1918 Goose Chaperone Project: sddec19-17

Potential Risks & Mitigation: ● Deterrence method harming people and/or environment ○ Mitigation : Method is low risk, targeting mechanic accurate ● Robot travelling outside target zone ○ Mitigation : Only move if GPS is online ● Software bug causing undefined behavior ○ Mitigation : Proper fail safes, comprehensive software testing ● Hardware failure causing undefined behavior ○ Mitigation : Proper fail safes ● Aggressive geese/animals attack and damage robot ○ Mitigation : Chassis protects internals, effective deterrence methods Goose Chaperone Project: sddec19-17

Market survey: ● Similar Products ○ ‘Rover-like’, mobile platforms ○ Partially and fully autonomous ○ Deterrence hardware ● What sets our design apart ○ Accurate targeting instead of blanket usage ○ Custom pathing instead of random roaming Goose Chaperone Project: sddec19-17

Resource/Cost Estimate: Item name Number Cost Total Item name Number Cost 2” PVC Tee 5 $1.39 $6.95 Beaglebone Black Rev C 1 $55.00 2” PVC 90 Elbow 9 $1.09 $9.81 Logitech C270 1 $39.99 2” PVC Cross 2 $3.29 $6.58 Ultrasonic Sensor 28015 1 $29.99 2” x 5’ Long Pipe 1 $9.99 $9.99 Adafruit Ult. GPS 1 $37.44 Geared DC Motor 2 $24.95 $49.90 Small-Scale Prototype 1 $17.95 $17.95 Total for project is: $263.6 Budget: $400 Goose Chaperone Project: sddec19-17

Project Milestones & Schedule: Goose Chaperone Project: sddec19-17

System Design Functional Decomposition: Goose Chaperone Project: sddec19-17

Detailed Design: Side View Front View Top View Rotational Structure Smooth Material Storage Goose Chaperone Project: sddec19-17

Technology Platform(s) used: Controller: ● Beaglebone Black ○ Capable prototyping board with GPIO, USB ○ 512MB DDR3, 4GB eMMC Flash, 2 PRU 32Bit Microcontrollers ○ Android/Debian compatible Image Recognition: ● Tensorflow ○ Large community support with large availability of pre-trained models ○ High Speed recognition ● OpenCV ○ Supplements Tensorflow to allow location of detected target GPS: ● Adafruit Module 10HZ ● GPSd service Operating System: ● Debian Goose Chaperone Project: sddec19-17

Test Plan: Components Test ● Robot Motors testing ● Analog Sensors testing ● Image Processing testing ● GPS testing ● Scare Technique testing ● Goose Identification testing Goose Chaperone Project: sddec19-17

Test Plan: Prototype test ● Compatibility testing ● Microcontrollers testing ● Data flow testing ● Navigation testing ● Robot movement testing ● Safety testing ● Behavior testing Goose Chaperone Project: sddec19-17

Prototype Implementations: ● Small Scale ○ ~5 square inches ● Focus on non-structural components ○ GPS ○ Image Recognition ○ Motor Control ● Software developed will: ○ Work with full scale system after calibration ○ Drive larger motors in similar fashion to prototype ○ Will not focus on deterrent apparatus ● Testing Environment ○ Printed images of geese, non-geese ○ Obstacles ○ For image recognition and GPS tests Goose Chaperone Project: sddec19-17

Conclusion Current project status: ● The prototype design has been drawn ○ 3 designs ○ 1 selected as prototype ● The materials have been selected ○ PVC materials and cost found ○ Technology and devices found ● The cost has been analyzed and estimated ○ Total cost within budget Goose Chaperone Project: sddec19-17

Task responsibility: Westion Berg: Chassis research / Chassis construction / Software for controlling movement Johnson Phan: Drawing prototype design / PVC structure cost and material / Beaglebone sample codes Zhihao Cao: Sensor research / Distance sensor / Image camera Woodrow Scott: Image recognition, software environment and integration Alec Morris: Assisting in GPS integration as well as algorithm analysis/development. Goose Chaperone Project: sddec19-17

Plan for next semester: ● Over the summer: proof of concept tests on specific modules. ● Within the first few weeks: have a small scale prototype. ● By midpoint: complete construction of larger scale robot. ● By mid-November: deploy path learning algorithms and GPS usage ● By end: fine-tuning and ensure all requirements are met. Goose Chaperone Project: sddec19-17

Additional Information

Tensorflow/OpenCV ● Tensorflow ○ Pretrained neural network models ○ Existing models may be quickly retrained ○ Possible to train other behavors ● OpenCv ○ Determine coordinates of match within frame ● Both have public free licenses for commercial use ● Can be used for quick processing in bursts to save battery

Motor Justification ● S : Max slope = 15° ● W : Weight=40lb=18kg ● V : Speed=1m/s ● D : Wheel radius = 10inch = .254m ● Rv = 60 V /( 𝞀 D )=(60*1m/s)/( 𝝆 .254m)=75rpm ● Ft = gSW = (9.81m/s^2)(.15)(18)=26.487W ● P = FtV = (26.487W)(1m/s)/2=13.24W per motor ● T = (½)( D /2)( Ft )=½*.254/2*26.487= 1.24ft-lb=17kg/m