13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner...
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Transcript of 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner...
![Page 1: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/1.jpg)
13 : Omni-Directional RobotMid-term Presentation
Ben WolfBrent CorneliusEd CramerJohn GrabnerJames Grabner
Advisor & Client:Dr. Nicola Elia
October 6, 2011
![Page 2: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/2.jpg)
Conceptual Diagram
![Page 3: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/3.jpg)
Project Goal
• Repair/clean up existing robot platform• Finish unimplemented features
– OS on Flash Card, reduced boot time– I/O board and IMU– BPAM(battery protection and monitoring)– Adapter Board(to pass through pin header for I/O
board cable and help clean up chassis)
• Document robot design and operation
![Page 4: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/4.jpg)
Current Progress
• OS - basic functions complete, experimenting with compressed file systems
• BPAM - Layout complete, parts ordered• Adapter board - removed offset connector
and replace with ribbon cable• I/O board - Purchased and tested for
compatibility
![Page 5: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/5.jpg)
BPAM Layout
![Page 6: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/6.jpg)
I/O Board Cable Test
• The PCM-MIO-G is tolerant of ‘irregular’ wiring
• Reduces complexity and cost of the adapter board
![Page 7: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/7.jpg)
What we need to do• OS
– Add SquashFS to the kernel, compress root partition– Integrate I/O board with the sensor management interface
• BPAM– Program microcontroller– Make PCB and install components
• Adapter Board– Make PCB layout– Make PCB and install components
• IMU– Purchase new IMU, mount to chassis, evaluate performance
• Tests & Documentation
![Page 8: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/8.jpg)
Success Criteria
• OS• BPAM• Adapter board• Chasis Optimization• IMU• I/O
![Page 9: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/9.jpg)
Success Criteria
• Major components will be completed• Detailed analysis of results may suffer• Issues
– Large learning curve for project– Documentation for previous robots is sparse– Difficult to test robot performance without
reliable wheels– Legacy requirements negatively affect new
designs
![Page 10: 13 : Omni-Directional Robot Mid-term Presentation Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nicola Elia October.](https://reader036.fdocuments.in/reader036/viewer/2022070413/5697bfd21a28abf838cabb71/html5/thumbnails/10.jpg)
Questions
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