MAGIC Robot DemoESE111 November 19 2012Joe Trovato, James Yang

Outline

• Background

• Hardware

• Software

• Summary

Background

MAGIC 2010 Competition:

• autonomous operation of multiple robots for mapping and exploartion

Since then:

• Expanded platform to diverse research applications

• Improving mapping, planning, and interaction of robots with their environment

Hardware

Hardware: Less Overwhelming

Driving:

• Motor Controllers

• DC Motors

• Skid Turning

Localization and Mapping:

• Horizontal and Vertical Lidars

• IMU

Processing:

• Mac Mini

• Microcontroller

Software

SLAM:Simultaneous Localization and Mapping

• IMU - Inertial Measurement Unit

• Vision - vertical and horizontal LIDAR

Communication:

• IPC: Inter Process Communication

• Wireless communication via WiFi

GUI: Graphical User Interface

• Map Traversal

• Path Planning

Concepts Applied

Electrical and Systems Engineering:• Basic Circuit Analysis (ESE215/205)

• Signals and Filtering (ESE216/206)

• Digital Design ( ESE170/171)

Mechanical Engineering:• Dynamics and Kinematics (MEAM211)

• Mechanical Design (MEAM101,201)

Computer Science:

• Embedded Systems (ESE350)

• Data Structures and Algorithms (CIS110,120,121)

Summary

• Robotics requires and develops comprehensive engineering skills

• Research integrates a variety of different disciplines

• Research is an opportunity to apply concepts learned in the classroom!

Questions and Demo