Upload
kyle-hernandez
View
218
Download
1
Tags:
Embed Size (px)
Citation preview
LTU H2BotTeam Members:David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas, Danielle E. Johnson, Nathaniel Johnson, Dave Daraskavich, Bill Gale, Brett Richardson
LTU H2Bot
Presentation Outline
Team Structure and Design Approach Design Features Mechanical Design Electrical Design Software Design Performance
Team Structure & Design Approach
Multi-Disciplined: CS, ME, EE, CE Explore multiple designs (sets) early Compare and Mockup Design sub-teams with collaborative
integration Portable software development on 2005
vehicle
Dual Power – Fuel Cell, Battery Modules PCB Power distribution Fail-safe Brakes & HW Speed Limit Brushed DC Motors / Planetary Gear Sets Robust Extruded Aluminum Frame JAUS Wireless Interface LMS, Camera, Compass, DGPS
Key Hardware Features
Power Modules – Fuel Cell
1.2kW Ballard Hydrogen PEM Fuel Cell
Hydrogen Leak Detection Self-regulating
Microprocessor control PV Charge Controller
regulates System Voltage (24V)
DC-DC converter feed 12V bus
8 hour run time per tank
Power Modules - Battery
Interchangeable with Fuel Cell Module
40 Ah X 24 V Battery configuration
DC-DC Converter supplies 12V bus
Built-in Automatic Charger
5 hour run time
Power Distribution Box
2-layer PCB 12V & 24V buses Regulated 24V supply eStop Motor Power Relay Sensor Power Switches Inexpensive Connector
System Battery Module
Fuel Cell Module
Power Distribution Box
Software Concept Sun Java and Eclipse IDE Object-Oriented, Portable, and Scalable Independent threads for communication,
signal processing for each device Fault-tolerant, watchdog concept for all
devices Data time-stamping
Software Architecture
Sensors Path Planning
World Map
Sensor Fusion
Path Execution
Calibration
Motor Controller
H2BotSoftware Architecture
Warning Indicators
JAUS Receiver
Vision Processing
Pixel Classification Teaching Image Manual Enhancement HUV Color Cube Avoid Non-
Background Region
Sensor Fusion
Virtual Grid World Frame Image Pixels projected to Ground Plane LMS Data Overlayed with Video Compass tracks Vehicle Orientation in
Grid Frame GPS and Dead-Reckoning track position
in Grid Frame
Performance
Gradability: minimum 2.5” curb Max Speed: 4.2 mph Power Consumption: 50-150W Range: Fuel Cell 8 hrs, Battery 5 hrs Failsafe Brake Capacity: > 30% grade LMS Range: 8.1m