1. Innovation and Design Excellence from Lawrence Technological University

2. Overview Team Introduction Previous Design History New Platform Design Process Innovative Platform Features Sensor Development Global Grid Path Planning Jaus Summary Q & A

3. Team Introduction Paul Wright, BSTM -Team Leader Ryan Mathews, BSCS -Programming Team Leader Jonathan Ruszala, BSRE -Electrical Design Leader CJ Chung – Faculty Advisor Mechanical Team Paul Wright – BSTM Stephen Osterhoff BSBME Philip Bigos– BSRE Anthony Knapp– BSRE Path Planning Team Dan McGee – BSEE Daniel Anderegg – BSCS JAUS Ryan Matthews – BSCS Global Grid Jonathan Nabozny – BSCS Vision Processing Christopher Kawatsu, MSCS Jiaxing Li, MSCS Taiga Sato, MSCS

4. Previous Design History Culture Shock I 2009 Culture Shock II 2010 Vulture I 2011

5. Previous Design History Performance – Low center of gravity – High Power 24V motors – Low moment of inertia – High-performance computer systems – Cambered wheel design – Dual Chain tensioners Safety Gel Batteries Reliable E-stop Audible & Visible alerts Speed-limiting via Motor Controller

6. Previous Design History Reliability & Maintainability – Durable materials – Modular construction – Passive sensors Small footprint – Increased maneuverability – Ease of testing

7. New Platform Design Process Reduced Camber angle to 7 Revised Suspension for more durability Built Sensor Test Cart for sensor development 12VDC Monitor eliminates inverter Continuous design improvement

8. New Platform Design Process Built Sensor Test Cart for sensor development

9. Stereo Vision System Low cost web cameras. Open source stereo vision software (Emgu, C# wrapper for OpenCV)

10. Disparity, Rectified, and Obstacle Images Disparity Image Obstacle Image Left Camera Rectified Image

11. Global Grid: Configuration Sampled Coordinates: 42.67994, -83.19578 42.67990, -83.19420 42.67798, -83.19565 42.67788, -83.19411 Grid Bounding Lines: North = 42.67994 South = 42.67788 East = -83.19411 West = -83.19578

12. Global Grid: Configuration

13. Global Grid: How It Works

14. Path Planning:

15. Software Design (JAUS Challenge) Message Manager PayloadHeader Message ComponentControlElement Local Pose Report Identification ServicesStatusVelocity

16. Innovative Platform Features Cambered wheel design- Single sided mounting Low center of gravity for neutral balance Low moment of inertia for easy turning on axis 12VDC Monitor eliminates inverter Custom SAE-JAUS COP Proprietary Stereo Vision Camera image processing

17. Innovative Platform Features Ease of Use: Reconfigurable Upper structure Ease of access to electronics and batteries Accessible controls Low weight Lightweight materials Integrated sensors Low power Passive sensors DC-DC conversion

18. Summary Evolutionary Design through Continuous Improvement

19. Q & A