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13 : Omni-Directional RobotMid-term Presentation
Ben WolfBrent CorneliusEd CramerJohn GrabnerJames Grabner
Advisor & Client:Dr. Nicola Elia
October 6, 2011
Conceptual Diagram
Project Goal
• Repair/clean up existing robot platform• Finish unimplemented features
– OS on Flash Card, reduced boot time– I/O board and IMU– BPAM(battery protection and monitoring)– Adapter Board(to pass through pin header for I/O
board cable and help clean up chassis)
• Document robot design and operation
Current Progress
• OS - basic functions complete, experimenting with compressed file systems
• BPAM - Layout complete, parts ordered• Adapter board - removed offset connector
and replace with ribbon cable• I/O board - Purchased and tested for
compatibility
BPAM Layout
I/O Board Cable Test
• The PCM-MIO-G is tolerant of ‘irregular’ wiring
• Reduces complexity and cost of the adapter board
What we need to do• OS
– Add SquashFS to the kernel, compress root partition– Integrate I/O board with the sensor management interface
• BPAM– Program microcontroller– Make PCB and install components
• Adapter Board– Make PCB layout– Make PCB and install components
• IMU– Purchase new IMU, mount to chassis, evaluate performance
• Tests & Documentation
Success Criteria
• OS• BPAM• Adapter board• Chasis Optimization• IMU• I/O
Success Criteria
• Major components will be completed• Detailed analysis of results may suffer• Issues
– Large learning curve for project– Documentation for previous robots is sparse– Difficult to test robot performance without
reliable wheels– Legacy requirements negatively affect new
designs
Questions
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