National Instruments Autonomous Robotics Competition CSEM Thesis Project 2015 Joshua Petrohilos Supervisor: Nasser Asgari

My role: Electrical Design Component research Some Mechanical Design Circuit Design Board Design Wiring Soldering Sensor Calibration

Required functions Movement Movement tracking Object Detection Unloading

Movement Navigating the course Precise to avoid obstacles Somewhat quick

Movement - Motor 50:1 Pololu Gear Motor Considered Stepper Motor 12V, 5A 12kg/cm Torque Displaced shaft Different ratios sold Encoder Considered Stepper Motor Good for Odometry Hard to track with Omniwheels Gear Motor is much simpler

Movement – Motor Driver Sabertooth dual 5A Motor Driver 6V to 18V Controls 2 motors

Movement – Motion Controller Kangaroo Motion Controller Works with Sabertooth and MyRIO Controlled by MyRIO Ensures motors are working consistently Feedback to provide tracking

Movement Tracking Encoders Laser mice sensor Use both to be thorough Provides speed information Checks Motors are working Could be inaccurate with Omniwheels Laser mice sensor Provides distance + speed tracking Could provide more greater accuracy Needs to be close to the ground Tracks with respect to Orientation Research to be done Use both to be thorough

Obstacle Detection Outer Wall Shipping Containers Hazard Area Speed Bump

Obstacle Detection Lidar Sonar Excellent range Wide angle Only takes one point at a time Sonar Lower range Less precise Good for “bump” avoidance

Obstacle Detection - Lidar Lidar: URG-04LX-UG01 Quite small Runs on USB Power (5V) 5m range 220 degree angle

Object Detection - Sonar HC-SR04 5V Voltage 2cm-450cm detection range Used for “bump” detection Cheap Could use Multiple

Unloading Objects to be unloaded in the cargo terminals Go over speedbump, or avoid it?

Unloading Depends on mechanical design Research to be done Stepper Motors Precise, but slow Can be geared for high torque Servos High gearing would be optimal

MyRIO Main processor 6-18V Powered from Battery Provides regulated voltages Several Inputs/Outputs

Breakout Board Easy way to wire components Can be mounted away from MyRIO Reduces load on MyRIO Much neater

Relevant Milestones Milestone 2 (4th May) Milestone 3 (10th June) Project Proposal Actuator/Motor control with LabView Milestone 3 (10th June) Obstacle Avoidance prototype Motors and Lidar will be required Milestone 4 (20th July) Navigation/Localisation Obstacle avoidance Electrical Design should be finalised Milestone 5 (24th August) Object Handling, Navigation and Obstacle Avoidance Electrical Design should be fully implemented

Thanks for listening! Questions?

References Gear Motor: https://www.pololu.com/product/1444 Sabertooth: https://www.dimensionengineering.com/products/sabertooth2x5 Kangaroo: https://www.dimensionengineering.com/products/kangaroo Lidar: https://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html MyRIO image: http://www.conrad.de/medias/global/ce/9000_9999/9300/9330/9337/1152106_BB_00_FB.EPS_1000.jpg Circuit Board image: http://www.reatechnologies.com/Images/board.jpg Encoder image: http://hades.mech.northwestern.edu/images/2/22/Encoder_diagram.png Mouse image: http://assets.razerzone.com/eeimages/categories/314/laser_sensors.png Electrical Design slide images: http://powertex.net.au/communities/7/004/012/525/077//images/4607841967.jpg http://www.bioinstruments.net/ee2.png Stepper Motor image: http://www.automationtechnologiesinc.com/wp-content/uploads/2012/01/KL34H280-55-4A-1024x1024.jpg Questions image: http://en.hdyo.org/assets/ask-question-1-ff9bc6fa5eaa0d7667ae7a5a4c61330c.jpg