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LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas,

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Presentation on theme: "LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas,"— Presentation transcript:

1 LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas, Danielle E. Johnson, Nathaniel Johnson, Dave Daraskavich, Bill Gale, Brett Richardson

2 LTU H 2 Bot

3 Presentation Outline Team Structure and Design Approach Design Features Mechanical Design Electrical Design Software Design Performance

4 Team Structure & Design Approach Multi-Disciplined: CS, ME, EE, CE Explore multiple designs (sets) early Compare and Mockup Design sub-teams with collaborative integration Portable software development on 2005 vehicle

5 Dual Power – Fuel Cell, Battery Modules PCB Power distribution Fail-safe Brakes & HW Speed Limit Brushed DC Motors / Planetary Gear Sets Robust Extruded Aluminum Frame JAUS Wireless Interface LMS, Camera, Compass, DGPS Key Hardware Features

6 Power Modules – Fuel Cell 1.2kW Ballard Hydrogen PEM Fuel Cell Hydrogen Leak Detection Self-regulating Microprocessor control PV Charge Controller regulates System Voltage (24V) DC-DC converter feed 12V bus 8 hour run time per tank

7 Power Modules - Battery Interchangeable with Fuel Cell Module 40 Ah X 24 V Battery configuration DC-DC Converter supplies 12V bus Built-in Automatic Charger 5 hour run time

8 Power Distribution Box 2-layer PCB 12V & 24V buses Regulated 24V supply eStop Motor Power Relay Sensor Power Switches Inexpensive Connector System Battery Module Fuel Cell Module Power Distribution Box

9 Software Concept Sun Java and Eclipse IDE Object-Oriented, Portable, and Scalable Independent threads for communication, signal processing for each device Fault-tolerant, watchdog concept for all devices Data time-stamping

10 Software Architecture SensorsPath Planning World Map Sensor Fusion Path Execution Calibration Motor Controller H 2 Bot Software Architecture Warning Indicators JAUS Receiver

11 Vision Processing Pixel Classification Teaching Image Manual Enhancement HUV Color Cube Avoid Non- Background Region

12 Sensor Fusion Virtual Grid World Frame Image Pixels projected to Ground Plane LMS Data Overlayed with Video Compass tracks Vehicle Orientation in Grid Frame GPS and Dead-Reckoning track position in Grid Frame

13 Performance Gradability: minimum 2.5 curb Max Speed: 4.2 mph Power Consumption: W Range: Fuel Cell 8 hrs, Battery 5 hrs Failsafe Brake Capacity: > 30% grade LMS Range: 8.1m


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