Safety Sensors
description
Transcript of Safety Sensors
![Page 1: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/1.jpg)
Safety Sensors
(IR and ultrasonic compression)
![Page 2: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/2.jpg)
Concerns about sensors Price Range Coverage time Temperature
sensitivity
![Page 3: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/3.jpg)
Design Vs. Buy OTS Design our own
Advantage low cost Design to spec
Disadvantage - Time- Not appealing
Buy OTS sensors Advantages
less time Easy to manufacture appealing
Disadvantages costly
![Page 4: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/4.jpg)
Additional Accessories
-addition to safety-addition to wow factor
![Page 5: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/5.jpg)
Status lights + Auto lighting
Status lights Auto lighting
![Page 6: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/6.jpg)
Status lights
Individual color LEDs indicate the operational status of the robot
Example of an LED driver (analog.com)
![Page 7: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/7.jpg)
Auto-Lighting By using ambient light transducers, or photoresistor, lighting around the robot
can be turned on/off autonomously
Picture of a photo-resistor and circuit
Light detector with built-in signal processing circuit for light modulation system
Ambient light detector
(microsemi.com)
![Page 8: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/8.jpg)
The Intelligent Algorithm
Speaker: James Harris
![Page 9: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/9.jpg)
Overview
Introduction Initial Thoughts Pathfinding Process Types Optimization Conclusion
![Page 10: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/10.jpg)
Initial Thoughts
Ant Foraging Bacterial Foraging Particle Swarm Optimization Pathfinding Algorithm Binary Tree
![Page 11: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/11.jpg)
Background
![Page 12: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/12.jpg)
Types
Dijkstra’s Algorithm Best First-Search A* Algorithm
![Page 13: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/13.jpg)
Dijkstra’s Algorithm
![Page 14: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/14.jpg)
Dijkstra’s Algorithm
PROS Finds a shortest
path Guaranteed to
work
CONS Simplest case Inefficient in
amount of work
![Page 15: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/15.jpg)
Best First Search
![Page 16: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/16.jpg)
Best First Search PROS Efficient amount of
work Fast
CONS Greedy: uses a
heuristic to guide itself
![Page 17: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/17.jpg)
A* Algorithm
![Page 18: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/18.jpg)
A* Algorithm
Most popular Favors vertices that are close to the
starting point (DA) and the goal (BFS) Faster and more efficient
![Page 19: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/19.jpg)
Optimization Techniques
Different score function Genetic Algorithms Neural Networks Learning
![Page 20: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/20.jpg)
Summary
Introduction Pathfinding Background Pathfinding Process Types Optimization Conclusion
![Page 21: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/21.jpg)
Questions
![Page 22: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/22.jpg)
The Competition
Speaker: James Harris
![Page 23: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/23.jpg)
Overview
Introduction Segway RMP 400 Raymond Model 102XM Seekur PowerBot Conclusion
![Page 24: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/24.jpg)
Segway RMP 400: Specifications
Speed: 6.67 m/s Weight: 109kg Dimensions: 76x112x61 cm Payload: 181kg
![Page 25: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/25.jpg)
Segway RMP 400
Pros All-terrain Looks cool Autonomous Can attach multiple
RPs together Stable Operation Can add sensing
devices
Cons No bumpers Cannot hold
objects
![Page 26: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/26.jpg)
Raymond Model 102XM: Specifications
Payload: 2042kg Incline: 60% grade Speed: 1.7m/s Weight: 272kg
![Page 27: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/27.jpg)
Raymond Model 102XM:
Pros Pavement Powerful Hand Controls Stable Programmable
Cons User-dependent Huge Large turn radius Expensive Little wow factor
![Page 28: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/28.jpg)
Seekur & PowerBot
![Page 29: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/29.jpg)
Competitive Specifications
SeekurTMPowerBotTM RIT RP100
Length 1.4m 85cm N/AWidth 1.3m 63cm N/A
Height (body)1.1m
47cm N/A
Body clearance
180mm; designed to be driven on plowed roads/packed snow.
6.7cm N/A
350kg unladen, (at full battery capacity)
Payload of base platform with included battery 100kg flat 100kg
(other drive ratios available on large orders)
70kg flat60kg 8% grade
100kg @ 33.3% grade
50kg @ 20% grade
65kgWeight (with min. battery capacity) 120kg
FEATURE
ROBOT BASE
PHYSICAL
![Page 30: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/30.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Lightweight aluminum unibody optimized for protection from the weather;
2.3mm CNC fabricated,
resistant to damage from rain, snow, salted roads etc.; -4/+122F operating environment (-20C to 50C). Equipped with 4 tow hooks. White reflective cover.
aluminum shell
Battery Access
N/A
Slide-out traySlide-out tray
N/A
FEATURE
ROBOT BASE
CONSTRUCTION
Body
![Page 31: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/31.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Battery
24V 200Ah NiCad24V sealed, lead-acid 24V
Charge4800 Watt-hr
2160 watt-hr N/A
Run time, base platform
7 hours
2.5 hrs 1 hr
Recharge time, standard charger
8 hours for full charge, less for opportunity charge
2.5 hrs 1 hr
Recharge time, 1 high-capacity charger
1 hour opportunity charge
NA N/A
Docking station available
Provision for auto-dock and charge station in 2007.
Yes N/A
FEATURE
ROBOT BASE
POWER
![Page 32: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/32.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Dr. Wheel diam. ~400mm 27cm 15.24cm
Dr. Wheel width ~200mm 9cm 5.08cm4 wheel, 360 degree steering, allowing for 4 wheel
symmetric Ackermann steering or holonomic movement;
Pushing force >160kg 32kgDependent on number of wheels
Turn radius 0 0cm 1m
Translate speed max 2.2m/sec (8km/h) 4.8mph; 7.6 kph; 2.1m/sec 4.5m/s
Traversable step max175mm vertical bump climbing 3cm N/A
Traversable gap max N/A 8cm 3cm
360 degrees; fully independentSteering Differential
As many as required; fully modular
Wheel composition
Pneumatic rubber tire (tread options)
Pneumatic drive wheels and 19cm casters Industrial-grade rubber
FEATURE
ROBOT BASE
MOBILITY
Drive
4 wheel drive, 50mm suspension
2-wheel drive, plus 2 rear balancing casters
![Page 33: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/33.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBot
TM RIT RP100
14 included 4
1 each side
1 each side
12 forward@ 10° intervals14 included N/A1 each side N/A
12 forward@ 10° intervals N/A
Sonar rangeN/A 15cm -
5m N/A
Surveillance option Yes Yes N/A
Rear sonar ring N/A
FEATURE
ROBOT BASE
SENSING & MANIPULATION (not requiring
Front sonar ring N/A
![Page 34: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/34.jpg)
Competitive Specifications (cont.)SeekurTM
PowerBotTM RIT RP100
IR Table Sensors No No N/A
Compass option No Yes YES
Arm
Provision for mounting robotic arm(s) Yes YES
Gripper option N/A No
Bumper option
Standard on front, rear, sides, and corners. Included Included
Wireless Ethernet Operation option Yes Yes N/A
FEATURESENSING & MANIPULATION (not requiring onboard
![Page 35: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/35.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Optional onboard computer
Capacity for 5 PCs and Ethernet switch Full-sized PC N/A
Max. no. cards 5 PCI N/A
& ports4 (USB1.1) 2 (USB2.0)2 serial
Speaker Optional Piezo N/ALaser option Yes Yes N/A
Gyro option
IMU (Inertial Measurement Unit) Yes N/A
GPS optionGPS/DGPS Optional Yes N/A
Vision/ACTS Color- N/ATracking options YES
Speech/Voice option No Yes N/A
StereoCam Rangefinder option Optional Yes N/A
FEATURE
ROBOT BASE
ONBOARD COMPUTING, SENSORS & ACCESSORIES
Yes, 3 PC/104+ cards/PC N/A
Yes Yes
![Page 36: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/36.jpg)
Competitive Specifications (cont.)
SeekurTM PowerBotTM RIT RP100
Processor
Freescale MPC565
Hitachi H8S PC104Sonar inputs N/A 32 max 16 max
Custom I/O connections (See below)
8-bit external I/O bus w/ up to 16 devices + PCI I/O boards N/A
Analog/Digital
10 bit analog inputs, digital inputs, digital outputs, PWM outputs and analog outputs, qty and type dependent on expansion board. 5 @ 0-5 VDC N/A
FEATURE ROBOT BASE
ELECTRONICS
![Page 37: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/37.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Communications ports
Ethernet, KVM, USB, Firewire, (with optional computers and boards)
3 RS-232 serial ports on microcontroller, 4 RS-232 and 1 Ethernet on optional embedded computer
RS-232 DB9
Wireless Communications options
802.11b access point, alternate options avail. upon request.
Radio modem pair without embedded computer; Ethernet station adapter & access point with N/A
Flash Memory 1Mb 1 mB 2GB
Power switches Keyswitch 2 main; 2 auxiliary 1
FEATURE
ROBOT BASE
ELECTRONICS
![Page 38: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/38.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
LCD display
W/ backlight w/ multiple menus and selection switches. Indicates charge state and connection status. NA TBD
Reset pushbutton No Warm reboot TBD
Function pushbutton No Self-test TBD
Robot power; 24VDC; TBD
red LED indicator TBD
FEATURE
ROBOT BASE
CONTROLS, PORTS AND INDICATORS (side or top panels)
Main power switch Keyswitch/E-stop
![Page 39: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/39.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Radio modem or other TBD
12VDC / 5VDC option TBD
Aux power switch No 12VDC / 5VDC TBD
Single enable/disable TBDMotors pushbuttons Yes, motor disable
FEATURE
ROBOT BASE
CONTROLS, PORTS AND INDICATORS (side or top panels)
Radio power switch No
![Page 40: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/40.jpg)
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
9-pin RS232 with Rcv and TBDXmt LED indicators TBD
Joy drive port Yes, via CANbus Onboard & off TBD
Charging
CAN controlled offboard 24V charger. 24VDC charge
port & Docking TBD
FEATURECONTROLS, PORTS AND INDICATORS (side or top panels)
Serial comm portsARIA PC, Customer PC
![Page 41: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/41.jpg)
Review
Segway RMP 400 Raymond Model 102XM Seekur PowerBot
![Page 42: Safety Sensors](https://reader035.fdocuments.in/reader035/viewer/2022070404/56813a5b550346895da25229/html5/thumbnails/42.jpg)
Questions