Autonomous People Mover Phase II - Sensors

P 1 5 242 - MS D 1 - F I N A L D E S I GN R E VI E W

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The Team

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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

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

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Feedback Topics

● Voltage Converter● Arduino Due vs. Mega● Controls Update in the Summer● Software

Please give feedback on any topics you have suggestions for.

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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.

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Team Overlap & Integration

*Does not depict true amount of overlap. 6

Project Scope

Phase I● Remote Control● Manual Override

Phase II● Autonomous Forward

Drive● Static Object

Detection & Avoidance

● Closed Course● Remote and Manual

Override

Phase III+● Full Autonomy (forward

& reverse)● Interface with user● Object Identification &

Avoidance● Static & Dynamic

Objects

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Customer Requirements

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Engineering Requirements

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Risk Assessment

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Power

● 48 V 12 Vo 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

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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

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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

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Sensors - Ultrasonic

● MB7001 LV-MaxSonar-WR1● Long range, weatherproof● Range: 0.3m to 6.45m● Three sensors across bumper● Integrated with Arduino

● Consumer Parking Sensors● Short range, weatherproof● Range: 0.3m to 2m● Four possible sensors

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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

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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

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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

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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

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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

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Power - Desktop

● PWR-M4-ATX● 48V ATX Power Supply● Onboard USB Monitoring● Includes ATX Mounting kit

with cooling

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Processing - Microcontrollers

Arduino Due x3

● Phase I System● Integrating GPS● Retaining most

functionality

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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

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Processing - Microcontrollers

Arduino Micro

● Located at rear of cart, connected to computer via USB

● Vtach Speed Sensor● Received from Wandering

Ambassador

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Power Diagram

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Wiring Schematic

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Phase 1 Overlay

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Wiring Diagram

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Controls - Braking and ThrottleRemote Controller

Receiver uController BrakingActuator

Gas Pedal

ActuatorController

Computer

Motor

BrakePedal

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Controls - Steering

Remote Controller

Radio Receiver

uController

WickedBilt Power Steering System

Current Steering Column

Computer

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Dual Camera Mount

Angled Base

Camera Base Plate

Camera Bases

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LiDAR Mount

LiDAR Ball Mount

Ball Mount Base

Cart Roof 31

Computer Mount

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Polycarbonate Windshields • Polycarbonate 3/16 in. thick

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Software Diagrams

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Software Diagrams

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Software Diagrams

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Software Diagrams

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Software Diagrams

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Software Diagrams

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Polysync vs. ROS Update

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Polysync vs. ROS Update

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ROS Demonstrations

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Bill of Materials/Budget

● Current Budget Remaining: $1,285.00

● After Estimated Costs: $195.51

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Bill of Materials/Budget

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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

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Test Plan

1. Measure all lines for proper signals and ensure all connections are properly made.

2. Power up only essential systems and run a signals check.

3. Run simplified codes to ensure proper circuit operation prior to hooking up to 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

11. Test the ultrasonic sensors on accuracy for different materials, distances, and angles

12. Figure out how the lower quality ultrasonic sensors work

13. Test radar for accuracy for different materials, distances, and angles

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Test Plan

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14. Test LiDAR for accuracy for different materials and distances

15. Record LiDAR and Camera Data during test drive

16. Test GPS for accuracy

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

25. Test to see what inputs are needed to get the brakes to work properly

26. Test to see what inputs get what steering outputs (wheel position)

27. Test holes in roof to ensure waterproof seals.

Feedback

● Can we purchase the 48V to 12V converter?● Can we purchase the Arduino? (Do we need to order?)

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Questions?

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