Undergraduate Capstone Projects on Multi-Robot Systems Authored by: Dr. Christopher Kitts Associate Professor Director, Robotic Systems Laboratory Director,

  • View
    214

  • Download
    2

Embed Size (px)

Text of Undergraduate Capstone Projects on Multi-Robot Systems Authored by: Dr. Christopher Kitts Associate...

  • Undergraduate Capstone Projects on Multi-Robot SystemsAuthored by: Dr. Christopher Kitts Associate Professor Director, Robotic Systems Laboratory Director, Silicon Valley Center for Robotic Exploration & Space TechnologiesPresented by: Mr. Mike Rasay Doctoral Candidate, Robotic Systems Laboratory

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    OutlineIntroductionUndergraduate ProjectsFormation Flying AircraftCooperative Rover NavigationCooperative Object TransportAcademic FrameworkSummary & Conclusions

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Robotic Systems LaboratoryLab: 1 faculty, 3 staff, ~10 grad students, ~35 undergrad students External funding: ~$750,000/yr from gov, industry, academia Space: ~2,000 ft2 on campus,~7,500 ft2 facility at NASA AmesExpertise: system design, controls, teleoperation, automation, etc. Current Field Robotics

    --------------------------Land Sea Air Space---------------------------------Field Operation for Real-World Missions----------------- Real Mission Data Products-------------------------- Sponsors & Partners------------Gov: NSF, NASA, USAF, NOAA,USGSInd: Lockheed, CSA, Mitsubishi, BMWUniv: Stanford, Wash U, UT AustinNon-Profit: CSGC, MBARI, IEEE, MTS- Applications-GeologyBiologyLand MngmntRemote SensingArcheology

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Multi-Robot Systems - IntroductionSelected RSL multi-robot projects

    Land: Rovers for Transport Sea: ROVs for Filming

    Air: Planes for Imaging Space: Satellite Formation Test

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Project 1 Formation Flying Aircraft 3-student 2005 projectAdded sensors, pan/tilt camera, digital and video comms, microcontrollers, and commercial autopilot to RC aircraftDeveloped follow-the-leader formation flying, auto take-off and landingApproved for UAV flight in FAA Class D airspace3rd in AUVSI International Graduate UAV Contest

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Project 2 Coordinated Rover Navigation5-student 2005 projectAdded sensors, digital comm, & microcontrollers to commercial chassesIntegrated Matlab controllers and demonstrated cluster control navigation3 of these students used system for grad thesis work; 1 PhD and 3 Masters theses in progress using this systemBasis of new NSF project in multi-robot navigation

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Project 3 Coordinated Object Transportation 4 student 2004 project and 5 student 2005 projectTeam1: Developed 2 velocity-controlled omnidriven chassesTeam 2: Developed gripper stages and controller for object transport with no transmission of forces/torquesOverhead vision system has been added for trackingSystem has supported 4 Masters theses and a PhD project is about to begin

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Student LearningLearning outcomesInterdisciplinary design: teams include mech, elec, comp engineersFull-lifecycle exposure: students involved from design through field operation Tools: students learn modern design and analysis tools to support projects Techniques: students practice project man., systems eng., concurrent design Themes for success:Real-world missionsNew technology development with potential for researchPro-active oversight and mentoringChallenges: Faculty attention on undergrad projects (detracting from other duties)Resources for supporting such a programHow do we integrate our program to address these challenges?

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Academic Framework Field RoboticsEducation / Science / Technology CustomersTechnology ObjectivesMission ObjectivesTechnology DevelopmentMission DevelopmentRobotic SystemsField Operation

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Academic Framework Field RoboticsEducation / Science / Technology CustomersTechnology ObjectivesMission ObjectivesTechnology DevelopmentMission DevelopmentRobotic SystemsField OperationResearch Opportunities and Impact Research is Well-Grounded and Attracts Grad StudentsDesign Education Opportunities and Impact Education is Comprehensive, Team-Based, and Hands-on Mission Science & Services Impact

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Academic Framework Field RoboticsEducation / Science / Technology CustomersTechnology ObjectivesMission ObjectivesTechnology DevelopmentMission DevelopmentRobotic SystemsField OperationResearch Opportunities and Impact Research is Well-Grounded and Attracts Grad StudentsDesign Education Opportunities and Impact Education is Comprehensive, Team-Based, and Hands-on Mission Science & Services Impact- Integrative research & education- Undergraduate research- Stimulation of grad school interest- Industry/gov/academic collaborations

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Academic Framework Field RoboticsEducation / Science / Technology CustomersTechnology ObjectivesMission ObjectivesTechnology DevelopmentMission DevelopmentRobotic SystemsField OperationResearch Opportunities and Impact Research is Well-Grounded and Attracts Grad StudentsDesign Education Opportunities and Impact Education is Comprehensive, Team-Based, and Hands-on Funding OpportunitiesMission Science & Services Impact- Integrative research & education- Undergraduate research- Stimulation of grad school interest- Industry/gov/academic collaborationsInfrastructure for Courses & Future Missions

    Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

    Summary & ConclusionsSCU field robotics programRobotic systems built for land, sea, air, and space missionsCradle to grave design and operation of systemsNumerous collaborators/sponsors from industry, academia, governmentUndergraduate Capstone Projects in Multi-Robot SystemsFormation aircraft, cooperative rover navigation, cooperative object transportEach a remarkable achievement for an undergraduate team Academic FrameworkExciting opportunities enabling undergraduate educational excellenceTo attract and justify investment in these projects, they are leveraged such that:the resulting robotic systems are used:As research testbeds for graduate research As primary field systems for real-world science and technology missions