iWheels

Overview

• Team Introduction• Design Concept• Mechanical Design• Electrical Subsystem Design• Software Platform Design

• Stereo Vision• Path Planning

• Jaus• Innovations• Q & A

Team IntroductionName Course

of Study

Role(s)

Jonathan Nabozny

BSCS Software, Team Leader

Ryan Matthews

BSCS Software, Mechanical, and Electrical

Jonathan Ruszala

MSCS Software, Mechanical, and Electrical Advisor

Christopher Kawatsu

MSCS Software Advisor

CJ Chung PhD, CS Faculty 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