UCF Department of EECS



EEL 4914 Senior DesignProject: Inexpensive Robot with Interior Mapping (IRIM)Team#: 27Group Members:Hung LeAlvaro MontoyaIbrahim ShofiquelJaime QuinteroSeeking Sponsorship from: Boeing, SoarTechStatement of Motivation: Where are the robot army that going to raze the world? Where are the slave that going to serve us breakfast every morning? Guess what, everything got to start somewhere and we happen to be some of those who desire to make one for ourselves rather than waiting.Today, the world is moving toward the autonomous direction. For the last few decades, we have seen engineers and scientist worked together to make this world more and more comfortable to live. Internet brought people of the world together, power tools make workplace less dangerous while increase the efficiency, management systems that save people time and money, and many more ingenious inventions.As the students who inspired to be engineer, we decide to make this project to be our entrant ticket toward the world full of possibilities. What we going to do here may not be ingenious innovation nor comparable to what available in the field. Still, by commit to this project and give it our very best, this project shall be our first and memorable standing stone that marked the beginning of our life long career of engineering, the career of eternal learning.Project GoalThe goal of this project is to build the foundation for house hold oriented robot. By provide the reasonable paths system within the environment, this project would allow later robot to navigate within the environment.This project can be divide into three main independent modules.The first part is the basic robot platform that will capable to move, carry a certain weight, and implemented with basic reactive system.The second part of the project is implemented Kinect with point cloud library to construct a navigation map of the area to be used as robot vision.The final part of the project is implement a basic intelligence system that will reading data from provided sensor such as Kinect point cloud data and map to navigate within permitted area.If time and resource allowed, we would like to further our project with gesture recognition, and voice commands.Project ObjectivesIn this project we desire to learn:Design electrical circuitsDesign and assemble electrical part for the robot platformDesign embedded microcontrollerImplement operating system on designed microcontrollerImplement point cloud data collectingImplement 3D modeling using point cloud dataDesign and implement navigation systemDesign and implement autonomous systemProduct DescriptionThe project as a whole must be autonomousRobot Platform:Low CostLight WeightMinimal PowerStable MotionPrecise and Accurate MovementProgram:Fast basic reactive systemIntelligent deliberative systemAccurate 3D modelAccurate navigation mapIndependent from robot platformProject Specification RequirementNote: The following data are estimated value and subjected to changePhysical Requirements1 Chassis (10” x 8” x 1”)4 wheels (2 inches in diameter)4 motors with encoders2 motor controllers1 embedded microcontroller1 microcontroller with Linux OS1 wireless transmitter/receiver1 Kinect (11” x 3” x 3”)OR 1 Kinect 2 (9.8” x 2.6” x 2.6”)4 Battery (8” x 2” x 1”) (4 pounds total)Entire structure dimension estimated 12” x 12” x 6”System Requirement4 hours of continuous operatingStop if or before collide with objectDisplay 3D model on monitorDisplay navigation mapShould be able to navigate within the designate interiorDiagramsSystem general architectureKinect (Hung Le – To be acquired)Output: Provide 3D dataHuman Interface (Hung Le – Research)Input: 3D model of the building’s interior, 2D map, state of the whole platformOutput: User commandsScanner Data (Hung Le – Research)Input: Kinect stream inputOutput: point cloud data, 3D modelMap System (Hung Le – Research)Input: point cloud data OR 3D modelOutput: 2D navigation map OR 3D model with navigation meshPath Finding (Hung Le – Research)Input: 2D navigation map OR 3D model with navigation meshOutput: Optimal path toward specified targetFeedback Data (Hung Le – Research)Input: Data from mobile platform (encoders, extra sensors, reactive command override)Output: Current speedDecision Making (Hung Le – Research)Input: Feedback data, directional pathOutput: Control commands to mobile platformControl Center (Alvaro Montoya – Research)Microcontroller (Alvaro Montoya – Research)Mobile Platform (Alvaro Montoya – Research)Microcontroller (Alvaro Montoya – Research)Platform Components (Alvaro Montoya – To be acquired)Input: Encoder data from motor controllers, commands from Control CenterOutput: desired voltage, encoder data, state of mobile platformReactive System (Alvaro Montoya – Research)Input: encoder data, and potentially other extra sensorsOutput: Reactive command override standard Central commandsExtra Sensor (Alvaro Montoya – To be acquired)Bumper, infra range finderOutput: sensor specific dataRC controller (Alvaro Montoya – Research)Input: connected/disconnectedOutput: RC commands that override all other commandsProject BudgetNote: Items that are group together are mean to be choose oneAmountComponentTypeCost1Kinect for xbox 360Sensor$99.991Kinect for windows academicSensor$159.951T'Rex Tank Robot Chassis, All Metal, 2X 12V Gear MotorsChassis + Motors$249.951Tank Caterpillar Tractor Chassis CrawlerChassis + Motors$83.003PCB BoardExp. Board$11.20 each2USB 2.0 portComm. Port$6.99 each1SainSmart Due Atmel SAM3X8E ARM Cortex-M3 boardMicrocontroller$39.991Olimex SAM3-H256 Dev Board, ATSAM3S4BA Arm MicrocontrollerMicrocontroller$27.991Raspberry piMicrocontroller$35.991Sharp GP2Y0A21 Distance SensorRange sensor$12.001Vex Robotics 228-3011 Vex iQ Ultrasonic Distance SensorRange sensor$25.00Financing: Currently seeking sponsorship from Boeing and SoarTechProject MilestonesTeam SetupSet up team meeting scheduleRoles distributionEstablish CommunicationRobot PlatformDecide on parts and order themDocument on selected components and comparison with othersDesign board to control robot motorsAssemble PCB following previous designDocument design of boardAssemble robot including PCB board and Micro-controllerProgram robot platformTest robot maneuverabilityDocument Robot Platform and Test dataControl CenterDesign board for Control CenterAssemble PCB following previous designDocument design of the boardInstall Linux operating system and ROSMount additional parts to micro-controller to work with Kinect, USB 2.0, Wi-Fi transmitterEstablish Wi-Fi connection with external laptopDocument Setup ProceduresData Collecting and AnalyzingCollect Data from Kinect as point cloud3D Modeling using point cloud dataMapping structure’s interior2D Mapping using point cloud data OR 3D model3D Navigation Mesh using 3D modelDocument Kinect Data and Mapping methodImplemented path finding algorithmDocument algorithmRobot Platform – Control Center InterfaceConnect Robot Platform with Control CenterEstablish Communication ProtocolDocument protocolImplement control commands and feedback dataTest control commandsDocument test dataIntelligence SystemImplement path analysisImplement decision makingImplement control command procedure for decisionsImplement Wi-Fi data communicationDocument intelligence systemHuman InterfaceImplement Wi-Fi data communicationDisplay point cloud dataDisplay 3D model with navigation meshDisplay 2D map with navigation dataTest control command transmissionDocument human interface ................
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