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    Doomba presentation Doomba presentation Presentation Transcript

    • DOOMBALee Craig + Mark Williams
    • 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!
    • DOOMBA
    • DOOMBA
    • DOOMBA
    • DOOMBA
    • DOOMBA
    • 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
    • JiraProject timeline
    • Recommendations:Research your tools.Larger teams.Have clear goals set.