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Multidisciplinary Senior DesignProject Readiness PackageProject Title:Autonomous Golf CartProject Number:(assigned by MSD)P16241Primary Customer:(provide name, phone number, and email)Dr. Raymond Ptucha rwpeec@rit.edu 585-475-2623Sponsor(s):(provide name, phone number, email, and amount of support)Who is providing financial support?Preferred Start Term:Fall 15Faculty Champion:(provide name and email)Dr. Raymond PtuchaOther Support:Clark Hochgraph, CASTProject Guide:(assigned by MSD)Prepared ByDateReceived ByDateItems marked with a * are required, and items marked with a ? are preferred if available, but we can work with the proposer on these.Project Information* Overview:?Self-driving cars will make our roadways safer, our environment cleaner, our roads less congested, and our lifestyles more efficient.? Imagine a people mover on the RIT campus that stands ready at all times to give people rides across campus.? A person needing a lift sends a text to the people mover service.? The people mover (golf cart) drives over to the location of the person, asks where they want to go, and then drives them to the destination of their choosing.? The key differentiator with this project is there is no human driver- the people mover is driving fully autonomously!?? The hardware and software for high speed highway driving and low speed campus driving are very similar.? The algorithms, including localization, obstacle avoidance, and navigation, are almost identical.? The autonomous people mover project is a multi-year senior design project.? Phase I converted the golf cart into a remote control vehicle.? Phase II is currently working towards autonomous driving in highly restricted settings.? Phase III (this phase) will leverage the work of the first two phases, enabling the vehicle to drive autonomously in constrained real-world scenarios.? Key tasks involve LIDAR and vision integration, localization, path planning, path following, and object detection/recognition/tracking.? The people mover will be showcased at Imagine RIT 2016, demonstrating the awesome technology being developed on the RIT campus.???If this is a follow-on project, please include a link/reference to the prior project(s) here.* Preliminary Customer Requirements (CR):What attributes does the customer seek in the final project? Each CR should map to one or more ER (see below). All sensors communicating robustly to host computerHost computer communicates robustly to steering and motor controlLocalization- golf cart can localize itself on selected subset of RIT campusBird’s eye view- golf cart displays bird’s eye view map of RIT campus with location of golf cart and optional display of all sensor and diagnostic readings.Diagnostics- A log file is created showing all sensor readings, vehicle localization, speed, direction, and all diagnostic information.Wireless e-stop- The wireless e-stop can stop vehicle when it is running in autonomous mode.Obstacle detection- golf cart is able to detect light and sound reflecting objects.Path following- golf cart is able to discern path from non-path areasObject avoidance- golf cart is able to detect obstacles and drive around them if possiblePath planning- given a map, starting location, and ending location, the vehicle can plan a route and execute the plan using path following with obstacle avoidance.Imagine RIT’16- Golf cart will demonstrate autonomous driving with obstacle detection/avoidance in pre-learned course with controlled conditions.* Preliminary Engineering Requirements (ER):Include both metrics and specifications. Each ER should map to one or more CRs (see above).Metrics: what quantities will be measured in order to verify success?Specifications: what is the target value of the metric that the team should design to? In addition to team P15241 and P15242 ER’s, which should be preserved unless otherwise notedObstacle detection:100% of all light reflecting obstacles > 10”×10” are detected within 10’ of golf cart100% of all light reflecting obstacles > 5”×5” are detected within 5’ of golf cart100% of all sound reflecting obstacles > 1’×1’ are detected within 3’ of golf cart* Constraints:List any external factors that limit the selection of alternatives, e.g., allowable footprint, budget, required use of legacy hardware/software.Team will be working in parallel with P15242 during fall 2015 and should coordinate any work on the golf cart through that team (point of contact Nathan Biviano, nmb3135@rit.edu). In case of conflict, P15242 will have priority.* Project Deliverables:Minimum requirements:All design documents (e.g., concepts, analysis, detailed drawings/schematics, BOM, test results)working prototypetechnical paperposterAll teams finishing during the spring term are expected to participate in ImagineRIT? Budget Information:List major cost items anticipated, and any special purchasing requirements from the sponsor(s).Potential cost items:differential GPSNEMA 4 or IPX4 waterproofing of all electronics, including sensors, wiring, controlling circuitry, and computerMini-itx computer upgradeAdvanced sensor mounts to minimize vibrationStereo mounting for stereo visionQuick disconnects to remove roof of cartSwitches/connects to more easily go from manual to autonomous modeProject Resources? Required Resources (besides student staffing):Describe the resources necessary for successful project completion. When the resource is secured, the responsible person should initial and date to acknowledge that they have agreed to provide this support. We assume that all teams with ME/ISE students will have access to the ME Machine Shop and all teams with EE students will have access to the EE Senior Design Lab, so it is not necessary to list these! Limit this list to specialized expertise, space, equipment, and materials.Faculty list individuals and their area of expertise (people who can provide specialized knowledge unique to your project, e.g., faculty you will need to consult for more than a basic technical question during office hours)Initial/dateClark Hochgraph- general autonomous driving information, especially vehicle to vehicle communicationAdrian Becker Gomez- general analog circuits and embedded controlGeorge Slack- PCB design, sensor and motor interfacingEnvironment (e.g., a specific lab with specialized equipment/facilities, space for very large or oily/greasy projects, space for projects that generate airborne debris or hazardous gases, specific electrical requirements such as 3-phase power)Initial/dateME Shop for working on cart, MSD 4th floor cubicle for vehicle and equipment storage.Equipment (specific computing, test, measurement, or construction equipment that the team will need to borrow, e.g., CMM, SEM, )Initial/dateMaterials (materials that will be consumed during the course of the project, e.g., test samples from customer, specialized raw material for construction, chemicals that must be purchased and stored)Initial/dateOtherInitial/dateEngineering support from Alex Sojda, D3 Engineering, Henrietta, NY? Anticipated Staffing By Discipline:Indicate the requested staffing for each discipline, along with a brief explanation of the associated activities. “Other” includes students from any department on campus besides those explicitly listed. For example, we have done projects with students from Industrial Design, Business, Software Engineering, Civil Engineering Technology, and Information Technology. If you have recruited students to work on this project (including student-initiated projects), include their names here, as well!Dept.# Req.Expected ActivitiesBMECE2Communication between car and user control panel: e.g., speed, wheel position, and GPS location. Software/navigation algorithms.EE3Sensor integration with car, controls, signal processing. Software/navigation algorithms. ISE1Systems engineering, human computer interface, interface considerations between parallel teams. Encouraged to work closely with CE and EE.ME1Sensor integration with car. Encouraged to work closely with CE and EE.Other* Skills Checklist:Indicate the sills or knowledge that will be needed by students working on this project. Please use the following scale of importance:1=must have2=helpful, but not essential3=either a very small part of the project, or relates to a “bonus” featureblank = not applicable to this projectMechanical EngineeringME Core KnowledgeME Elective Knowledge3D CADFinite element analysis2Matlab programmingHeat transferBasic machiningModeling of electromechanical & fluid systems22D stress analysisFatigue and static failure criteria22D static/dynamic analysis1Machine elementsThermodynamicsAerodynamicsFluid dynamics (CV)Computational fluid dynamics2LabViewBiomaterialsStatisticsVibrationsMaterials selectionIC EnginesGD&T2Linear ControlsComposites2RoboticsOther (specify)Electrical EngineeringEE Core KnowledgeEE Elective Knowledge1Circuit Design (AC/DC converters, regulators, amplifies, analog filter design, FPGA logic design, sensor bias/support circuitry)2Digital filter design and implementation1Power systems: selection, analysis, power budgetDigital signal processing2System analysis: frequency analysis (Fourier, Laplace), stability, PID controllers, modulation schemes, VCO’s & mixers, ADC selection2Microcontroller selection/application2Circuit build, test, debug (scope, DMM, function generator2Wireless: communication protocol, component selection2Board layoutAntenna selection (simple design)2MatlabCommunication system front end designPSpice2Algorithm design/simulation1Programming: C, Assembly2Embedded software design/implementation2Electromagnetics: shielding, interferenceOther (specify)Industrial & Systems EngineeringISE Core KnowledgeISE Elective Knowledge2Statistical analysis of data: regression2Design of ExperimentMaterials scienceSystems design – product/process design2Materials processing, machining lab2Data analysis, data miningFacilities planning: layout, mat’l handlingManufacturing engineeringProduction systems design: cycle time, throughput, assembly line design, manufacturing process designDFx: manufacturing, assembly, environment, sustainability2Ergonomics: interface of people and equipment (procedures, training, maintenance)Rapid prototyping2Math modeling: OR (linear programming, simulation)2Safety engineering1Project managementOther (specify)Engineering economy: Return on InvestmentQuality tools: SPCProduction control: schedulingShop floor IE: methods, time studiesComputer tools: Excel, Access, AutoCAD2Programming (C++)Biomedical EngineeringBME Core KnowledgeBME Elective KnowledgeMatlabMedical image processingAseptic lab techniquesCOMSOL software modelingGel electrophoresisMedical visualization softwareLinear signal analysis and processingBiomaterial testing/evaluationFluid mechanicsTissue cultureBiomaterialsAdvanced microscopyLabviewMicrofluidic device fabrication and measurementSimulation (Simulink)Other (specify)System physiologyBiosystems process analysis (mass, energy balance)Cell cultureComputer-based data acquisitionProbability & statisticsNumerical & statistical analysisBiomechanicsDesign of biomedical devicesComputer EngineeringCE Core KnowledgeCE Elective KnowledgeDigital design (including HDL and FPGA)Networking & network protocols1Software for microcontrollers (including Linux and Windows)Wireless networks1Device programming (Assembly, C)2Robotics (guidance, navigation, vision, machine learning, control)2Programming: Python, Java, C++2Concurrent and embedded software2Basic analog design2Embedded and real-time systems2Scientific computing (including C and Matlab)2Digital image processing2Signal processing2Computer vision1Interfacing transducers and actuators to microcontrollers2Network securityOther (specify) ................
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