ESD3 project.Sponsored by:Professor MondragonRIT ECT-ET departmentYe Cheng, Murat Belge, Doug Jones, Dan Lluch
What did we do?From this...
What did we do?... to this, in ten weeks.
Product VisionA 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 / BorrowedCreated:Code running on BeagleBoardControl program on the PCBorrowed:MatLab video capture, display, and color detection algorithms from MathWorks.Thanks for the help!
DOOMBAControlled by a program running on a PC, or by SSHing into theBeagleBoard.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 CreateMatLab ---(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 learnedDocumentation is key10 weeks is really short time for a rapid prototype and development
RetrospectiveInitial:Controlled from touch screen running on DE2 FPGA.BeagleBoard powered by Roombas battery.Connected to RITs wireless networkFinal:Scrapped DE2, currently using PC to control.Needed a second battery to power BeagleBoard.Microsoft Project
Recommendations:Research your tools.Larger teams.Have clear goals set.