G ROUP 6 Robot Start Area - - PowerPoint PPT Presentation

GROUP 6

Zone A Zone B Course Keepout Area

15 Feet

Obstacle Course Target (For Zone B) Course Target (For Zone A) Obstacle Course Target (For Zone B) Course Target (For Zone A)

10 Feet Robot Start Area

Obstacle

Robot Start Area

Obstacle Obstacle

4 Feet

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DriveTrain

M27-150 motor

• High efficiency
• Each one is rated to run between 6-24V
• Our simulations proved that the most

efficient way to handle the load is at 12V drawing 3.5 amps each

• Most cost effective when drivetrain is

included

• Gear ratio: 11 tooth sprocket geared up to

a 42 tooth sprocket

• Speed output after gearing = 5.28 mph
• Torque output after gearing = 0.56 foot

pounds

• After doing power analysis, we chose to go with a lead

acid battery.

• Advantages:
• Low price
• High capacity
• Disadvantages:
• Larger in size
• High weight

• All of the power in the robot will be managed by one power

management PCB

• The power management PCB will take power from the battery and

regulate the voltage for each component accordingly

• Only step-down linear regulators will be used
• Cheaper to implement
• Lower complexity
• Less noise filtering needed
• Noise reduction / filtering circuitry will be implemented

• Nerf Rival Khaos (Balls)
• Dimensions: 4.2 x 14.8 x 28.5

inches

• Electrically powered
• Range up to 90 ft
• Nerf HyperFire Elite (Darts)
• Rounds: 25 Darts
• Dimensions: 4 x 24 x 12

inches

• Electrically powered
• Range up to 90 ft

ELP 2.0MP Varifocal Lens Camera • The ELP camera was chosen as

the main tracking sensor due to its bigger sensor and compatibility.

• The ELP cameras have a 1/2.7”

sensor as compared to others which have a smaller 1/4” sensor.

• Max performance 1080p running

at 30fps

• This camera also has the feature

to change its focal length.

LeddarOne Distance Sensor • The LeddarOne was chosen as the

second sensor subsystem due to its range and price.

• it is an infrared sensor that

measures intensity of the reflected beam.

• It will back up the camera by

giving the range and confirming targets.

• It has a max range of 130 feet and

no minimum distance.

SBC – Single board computer

Nvidia Jetson TK1:

• Responsible for handling all computer vision algorithms, sensor

feedback, and wireless communication to the display.

• SoC includes CPU + GPU.
• Offers desktop-level GPU

performance with embedded-level power consumption.

• Relevant specs:
• Nvidia Kepler GPU with 192 CUDA Cores
• Nvidia 4-Plus-1 Quad-Core ARM Cortex-A15 CPU clocked at

2.32 GHz

• 2GB of DDR3L RAM

SBC – Comparison

Name/Model SoC CPU GPU RAM Architecture Cores Frequency Architecture Frequency Cores Size Type Nvidia Jetson TK1 Tegra K1 64-bit ARM Cortex- A15 4 2.32 GHz Nvidia Kepler GK20a 950 MHz 192 Cuda Cores 2 GB DDR3L Raspberry Pi 3 Model B BCM2837 64-bit ARM Cortex- A53 4 1.2 GHz VideoCore IV 400 MHz

not specified

1 GB LPDDR2

MCU – Microcontroller Unit

ATmega328p

• Will handle pan & tilt servos and fire controls.
• Open-source hardware; can be easily modified for specific uses.
• Huge online support (for extra expandability, shields, and parts)
• Easy-to-use and intuitive (runs on C++ based environment).
• Low power consumption and price.
• Relevant specifications:

▪ 8-bit architecture ▪ 32KB of Flash memory ▪ 2KB of RAM

MCU PCB Schematic

Drivetrain MCU

• Detection Type

Duration FPS Face Detection (Haar Cascades) 96.3 ms 10.3 FPS Medic Detection (Haar Cascades) 264 ms 3.8 FPS Robot Detection (Background Subtraction) 91 ms 10.9 FPS

PROTOTYPE ROBOT COST: ELECTRICAL COST (INITIAL ESTIMATE: $600~) $545 MECHANICAL COST: $440 TOTAL AS-DEMONSTRATED COST: $985 RESEARCH FUNDS: $935 TOTAL COST: $1920

Electronics Item Prototype Unit Qty. Cost/Unit Nvidia Jetson TK1 (student discount) 1 $130.00 LeddarOne Rangefinder Sensor 1 $115.00 ELP Varifocal Camera 1 $54.00 Arduino Mega Clone 1 $11.99 Pololu Dual VNH5019 Motor Driver 1 $49.23 Arduino USB-Serial (FTDI chip) 1 $15.00 PCB components & Misc. parts {wire, switches etc} 1 $30.00 PCB Manufacturing 2 $33.00 Bluetooth HC-06 module 1 $8.99 USB 7-port hub 1 $39.99 Lead Acid Battery (12Ah) 1 $25.00 Prototype Electronics Cost $545.20

Category Primary Secondary System-level design Tarek Josh Image Processing/CV Hardware Design Tarek Josh Turret system MCU + Fire control Tarek Seif Power analysis & design Seif Tarek Power management PCB Seif Tarek Sensors and feedback control Josh Tarek Drivetrain control (MCU + Motor Driver) Tarek Josh Drive motors Yarub Tarek Gun selection Yarub Seif Turret assembly (mounting hardware) Josh Yarub Wireless Communication Tarek Josh Presentation Master Josh Hidden 5th member Toan Nguyen