Progress Report 1 New Actuator Control Board 2 Why Beagle Bone - PowerPoint PPT Presentation

Oct 07, 2022 •466 likes •567 views

Progress Report 1 New Actuator Control Board 2 Why Beagle Bone Black? Features Communication via Ethernet ROS and Software running on Ubuntu Pluggable Components Connectors: 33x digital I/Os, 4x PWM, 4xADC SPI, CAN, and I2C

Progress Report 1
New Actuator Control Board 2
Why Beagle Bone Black? Features ⋄ Communication via Ethernet ⋄ ROS and Software running on Ubuntu ⋄ Pluggable Components Connectors: ⋄ 33x digital I/Os, 4x PWM, 4xADC ⋄ SPI, CAN, and I2C Bus ⋄ Ethernet, USB, HDMI ⋄ SD-Card Slot 3
External Components ⋄ Inertial measurement unit (Adafruit LSM9DS0) ⋄ Light barrier with IS471 and IR-LED ⋄ High power motordriver ⋄ Optical Flow Sensor ⋄ Servomotor 4
In Progress: New charging mechanism for the capacitor Idea: Charging the Capacitor with a transformer Possible advantages: ⋄ Capacitor is charged more quickly ⋄ Galvanic isolation / more safety ⋄ More energy-efficient Disadvantages: ⋄ More weight ⋄ Lack of experience 5
Localization Idea: Using gradient descent in the particle filter Possible advantages: ⋄ Global localization ⋄ Low computational power needed ⋄ Precision Open questions: ⋄ How selecting number of gradient steps and particles? ⋄ Is it really better? 6
Simple Depth Based Obstacle Detection Approach: ⋄ Detect the ground plane ⋄ Compress camera data by computing a voxel grid ⋄ Remove all voxels close to the ground plane ⋄ Clustering the remaining voxel through a distance metric 7
Result 8
Thank you for your Attention! Questions? 9

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