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Safety Sensors. (IR and ultrasonic compression). Concerns about sensors. Price Range Coverage time Temperature sensitivity. Design Vs. Buy OTS. Design our own Advantage low cost Design to spec Disadvantage Time Not appealing Buy OTS sensors Advantages less time - PowerPoint PPT Presentation
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Safety Sensors
(IR and ultrasonic compression)
Concerns about sensors Price Range Coverage time Temperature
sensitivity
Design Vs. Buy OTS Design our own
Advantage low cost Design to spec
Disadvantage - Time- Not appealing
Buy OTS sensors Advantages
less time Easy to manufacture appealing
Disadvantages costly
Additional Accessories
-addition to safety-addition to wow factor
Status lights + Auto lighting
Status lights Auto lighting
Status lights
Individual color LEDs indicate the operational status of the robot
Example of an LED driver (analog.com)
Auto-Lighting By using ambient light transducers, or photoresistor, lighting around the robot
can be turned on/off autonomously
Picture of a photo-resistor and circuit
Light detector with built-in signal processing circuit for light modulation system
Ambient light detector
(microsemi.com)
The Intelligent Algorithm
Speaker: James Harris
Overview
Introduction Initial Thoughts Pathfinding Process Types Optimization Conclusion
Initial Thoughts
Ant Foraging Bacterial Foraging Particle Swarm Optimization Pathfinding Algorithm Binary Tree
Background
Types
Dijkstra’s Algorithm Best First-Search A* Algorithm
Dijkstra’s Algorithm
Dijkstra’s Algorithm
PROS Finds a shortest
path Guaranteed to
work
CONS Simplest case Inefficient in
amount of work
Best First Search
Best First Search PROS Efficient amount of
work Fast
CONS Greedy: uses a
heuristic to guide itself
A* Algorithm
A* Algorithm
Most popular Favors vertices that are close to the
starting point (DA) and the goal (BFS) Faster and more efficient
Optimization Techniques
Different score function Genetic Algorithms Neural Networks Learning
Summary
Introduction Pathfinding Background Pathfinding Process Types Optimization Conclusion
Questions
The Competition
Speaker: James Harris
Overview
Introduction Segway RMP 400 Raymond Model 102XM Seekur PowerBot Conclusion
Segway RMP 400: Specifications
Speed: 6.67 m/s Weight: 109kg Dimensions: 76x112x61 cm Payload: 181kg
Segway RMP 400
Pros All-terrain Looks cool Autonomous Can attach multiple
RPs together Stable Operation Can add sensing
devices
Cons No bumpers Cannot hold
objects
Raymond Model 102XM: Specifications
Payload: 2042kg Incline: 60% grade Speed: 1.7m/s Weight: 272kg
Raymond Model 102XM:
Pros Pavement Powerful Hand Controls Stable Programmable
Cons User-dependent Huge Large turn radius Expensive Little wow factor
Seekur & PowerBot
Competitive Specifications
SeekurTMPowerBotTM RIT RP100
Length 1.4m 85cm N/AWidth 1.3m 63cm N/A
Height (body)1.1m
47cm N/A
Body clearance
180mm; designed to be driven on plowed roads/packed snow.
6.7cm N/A
350kg unladen, (at full battery capacity)
Payload of base platform with included battery 100kg flat 100kg
(other drive ratios available on large orders)
70kg flat60kg 8% grade
100kg @ 33.3% grade
50kg @ 20% grade
65kgWeight (with min. battery capacity) 120kg
FEATURE
ROBOT BASE
PHYSICAL
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Lightweight aluminum unibody optimized for protection from the weather;
2.3mm CNC fabricated,
resistant to damage from rain, snow, salted roads etc.; -4/+122F operating environment (-20C to 50C). Equipped with 4 tow hooks. White reflective cover.
aluminum shell
Battery Access
N/A
Slide-out traySlide-out tray
N/A
FEATURE
ROBOT BASE
CONSTRUCTION
Body
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Battery
24V 200Ah NiCad24V sealed, lead-acid 24V
Charge4800 Watt-hr
2160 watt-hr N/A
Run time, base platform
7 hours
2.5 hrs 1 hr
Recharge time, standard charger
8 hours for full charge, less for opportunity charge
2.5 hrs 1 hr
Recharge time, 1 high-capacity charger
1 hour opportunity charge
NA N/A
Docking station available
Provision for auto-dock and charge station in 2007.
Yes N/A
FEATURE
ROBOT BASE
POWER
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Dr. Wheel diam. ~400mm 27cm 15.24cm
Dr. Wheel width ~200mm 9cm 5.08cm4 wheel, 360 degree steering, allowing for 4 wheel
symmetric Ackermann steering or holonomic movement;
Pushing force >160kg 32kgDependent on number of wheels
Turn radius 0 0cm 1m
Translate speed max 2.2m/sec (8km/h) 4.8mph; 7.6 kph; 2.1m/sec 4.5m/s
Traversable step max175mm vertical bump climbing 3cm N/A
Traversable gap max N/A 8cm 3cm
360 degrees; fully independentSteering Differential
As many as required; fully modular
Wheel composition
Pneumatic rubber tire (tread options)
Pneumatic drive wheels and 19cm casters Industrial-grade rubber
FEATURE
ROBOT BASE
MOBILITY
Drive
4 wheel drive, 50mm suspension
2-wheel drive, plus 2 rear balancing casters
Competitive Specifications (cont.)
SeekurTMPowerBot
TM RIT RP100
14 included 4
1 each side
1 each side
12 forward@ 10° intervals14 included N/A1 each side N/A
12 forward@ 10° intervals N/A
Sonar rangeN/A 15cm -
5m N/A
Surveillance option Yes Yes N/A
Rear sonar ring N/A
FEATURE
ROBOT BASE
SENSING & MANIPULATION (not requiring
Front sonar ring N/A
Competitive Specifications (cont.)SeekurTM
PowerBotTM RIT RP100
IR Table Sensors No No N/A
Compass option No Yes YES
Arm
Provision for mounting robotic arm(s) Yes YES
Gripper option N/A No
Bumper option
Standard on front, rear, sides, and corners. Included Included
Wireless Ethernet Operation option Yes Yes N/A
FEATURESENSING & MANIPULATION (not requiring onboard
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Optional onboard computer
Capacity for 5 PCs and Ethernet switch Full-sized PC N/A
Max. no. cards 5 PCI N/A
& ports4 (USB1.1) 2 (USB2.0)2 serial
Speaker Optional Piezo N/ALaser option Yes Yes N/A
Gyro option
IMU (Inertial Measurement Unit) Yes N/A
GPS optionGPS/DGPS Optional Yes N/A
Vision/ACTS Color- N/ATracking options YES
Speech/Voice option No Yes N/A
StereoCam Rangefinder option Optional Yes N/A
FEATURE
ROBOT BASE
ONBOARD COMPUTING, SENSORS & ACCESSORIES
Yes, 3 PC/104+ cards/PC N/A
Yes Yes
Competitive Specifications (cont.)
SeekurTM PowerBotTM RIT RP100
Processor
Freescale MPC565
Hitachi H8S PC104Sonar inputs N/A 32 max 16 max
Custom I/O connections (See below)
8-bit external I/O bus w/ up to 16 devices + PCI I/O boards N/A
Analog/Digital
10 bit analog inputs, digital inputs, digital outputs, PWM outputs and analog outputs, qty and type dependent on expansion board. 5 @ 0-5 VDC N/A
FEATURE ROBOT BASE
ELECTRONICS
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Communications ports
Ethernet, KVM, USB, Firewire, (with optional computers and boards)
3 RS-232 serial ports on microcontroller, 4 RS-232 and 1 Ethernet on optional embedded computer
RS-232 DB9
Wireless Communications options
802.11b access point, alternate options avail. upon request.
Radio modem pair without embedded computer; Ethernet station adapter & access point with N/A
Flash Memory 1Mb 1 mB 2GB
Power switches Keyswitch 2 main; 2 auxiliary 1
FEATURE
ROBOT BASE
ELECTRONICS
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
LCD display
W/ backlight w/ multiple menus and selection switches. Indicates charge state and connection status. NA TBD
Reset pushbutton No Warm reboot TBD
Function pushbutton No Self-test TBD
Robot power; 24VDC; TBD
red LED indicator TBD
FEATURE
ROBOT BASE
CONTROLS, PORTS AND INDICATORS (side or top panels)
Main power switch Keyswitch/E-stop
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
Radio modem or other TBD
12VDC / 5VDC option TBD
Aux power switch No 12VDC / 5VDC TBD
Single enable/disable TBDMotors pushbuttons Yes, motor disable
FEATURE
ROBOT BASE
CONTROLS, PORTS AND INDICATORS (side or top panels)
Radio power switch No
Competitive Specifications (cont.)
SeekurTMPowerBotTM RIT RP100
9-pin RS232 with Rcv and TBDXmt LED indicators TBD
Joy drive port Yes, via CANbus Onboard & off TBD
Charging
CAN controlled offboard 24V charger. 24VDC charge
port & Docking TBD
FEATURECONTROLS, PORTS AND INDICATORS (side or top panels)
Serial comm portsARIA PC, Customer PC
Review
Segway RMP 400 Raymond Model 102XM Seekur PowerBot
Questions
Recommended