Doomba presentation

DOOMBA

Lee Craig + Mark Williams

ESD3 project.

Sponsored by:

Professor Mondragon

RIT ECT-ET department

Ye Cheng, Murat Belge, Doug Jones, Dan Lluch

What did we do?

From this...

What did we do?

... to this, in ten weeks.

Product Vision

A robot that can go into spaces where a human cannot or should not go for recon, bomb detection, or search and rescue operations.

Designed for military or police use.

Created / Borrowed

Created:

Code running on BeagleBoard

Control program on the PC

Borrowed:

MatLab video capture, display, and color detection algorithms from MathWorks.

Thanks for the help!

DOOMBA

DOOMBA

DOOMBA

DOOMBA

DOOMBA

DOOMBA

Controlled by a program running on a PC, or by SSHing into the

BeagleBoard.

Current specifications:

• iRobot Create

• BeagleBoard

• USB Webcam

• USB Wireless card

• 12v 7Ah lead acid battery (powering BeagleBoard + peripherals)

• 5 volt voltage regulator (3 amp max)

Connections:

PC ---(UDP)---> BeagleBoard ---(serial)---> iRobot Create

MatLab ---(TCP)--> BeagleBoard ---(USB)---> webcam

Roadblocks: What went wrong? • UDP on the DE2 FPGA.

• Power requirements.

• Video Lag

Things to change

• Control from web app instead of program on local PC

• Switch from BeagleBoard to BeagleBone - removes need for USB->serial level shifter.

• Power sources for the beagle and roomba

• Alternative robot platform with less power consumption

• Mobile mount for camera - pan+tilt

• Variable Speeds

• Lasers and Rocket launchers

What we learned

Documentation is key

10 weeks is really short time for a rapid prototype and development

Retrospective

Initial:

Controlled from touch screen running on DE2 FPGA.

BeagleBoard powered by Roomba's battery.

Connected to RIT's wireless network

Final:

Scrapped DE2, currently using PC to control.

Needed a second battery to power BeagleBoard.

Microsoft Project

Jira

Project timeline

Recommendations:

Research your tools.

Larger teams.

Have clear goals set.