doomba presentation
TRANSCRIPT
DOOMBA
Lee Craig + Mark Williams
ESD3 project.
Sponsored by:
Professor Mondragon
RIT ECT-ET department
Ye Cheng, Murat Belge, Doug Jones, Dan Lluch
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.