iWheels

Overview Team Introduction Design Concept Mechanical Design Electrical Subsystem Design Software Platform Design Stereo Vision Path Planning Jaus Innovations Q & A

Team Introduction NameCourse of Study Role(s) Jonathan Nabozny BSCSSoftware, Team Leader Ryan Matthews BSCSSoftware, Mechanical, and Electrical Jonathan Ruszala MSCSSoftware, Mechanical, and Electrical Advisor Christopher Kawatsu MSCSSoftware Advisor CJ ChungPhD, CSFaculty Advisor, Project Manager

iWheels Design Concept An Invacare motorized wheelchair was used as a chassis for our robot The platform was chosen to be a cost effective reliable base for software development Emphasis on Software Development specially JAUS Proprietary Stereo Vision System

Mechanical Design & Fabrication T-slot aluminum case Clear acrylic housing for electrical systems Aluminum battery tray

Electrical Subsystems Design Arduino D/A interface to motor controller Switching circuit for standard or PC control Powered by four 12 volt 35 aH batteries

Platform Software Design Revamp from last year’s platform Simplified UI with diagnostics Public News Stand – Single access point for system information Sensors (GPS, Compass, etc) – Point of communication for subsystems

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

Location of the cameras

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

Path Planning: iWheels

JAUS Software Design JAUS Data Flow Diagram (Overview) Internal Components JAUS Module Request Response External Components GUI Input Origin GUI Display End Point COP Message Parser Message Packer JUDP Module System Commands

JAUS Software Design (JAUS Challenge) SAE 5710 (Page 16)

JASU Software Design & Test (JAUS Challenge)

Innovations Reduced cost (time and money) Compact, simple, and reliable design Light weight Low power Proprietary Stereo Vision Camera image processing Platform independent COP for JAUS

Q & A