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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
1/9 EDSGN 100
EDSGN 100 Autonomous System Navigation
and Driver Augmentation
EDSGN 100 Autonomous System Navigation
and Driver Augmentation
Pramod Vemulapalli
Graduate Research Assistant
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
2/9 EDSGN 100
My Background : Robots , Simulators and more …
My Background : Robots , Simulators and more …
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
3/9 EDSGN 100
HardwareHardware
HONEYWELLHG1700 IMU
CROSSBOWIMU
SHARPIR SENSOR
NOVATELLGPS RECIEVER
HOKUYOLASER
SICKLASER
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
ψ-DAPψ-DAP
4/9 EDSGN 100
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
Reconstruction of the Road from the Laser , GPS and IMU data
Reconstruction of the Road from the Laser , GPS and IMU data
5/9 EDSGN 100
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
How to choose sensors ? How to choose sensors ?
Choosing Sensors must be done by a Cost – Benefit analysis and by understanding the needs and resources the design problem presentsAsking the right questions can save you $$$
6/9 EDSGN 100
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
Some Questions that you mightwant to ask about sensors
Some Questions that you mightwant to ask about sensors
What is the power requirement ?
7/9 EDSGN 100
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
Some Questions that you mightwant to ask about sensors
Some Questions that you mightwant to ask about sensors
What is the sensing capability that is required ?
8/9 EDSGN 100
Camera Lidar GPS
What is the scan rate, accuracy , resolution ???
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
How are the sensors interfaced ?How are the sensors interfaced ?
How are the sensors interfaced ?
9/9 EDSGN 100
USB Serial Port Analog
WIFI
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
Some Other Questions ? Some Other Questions ?
What is the weight ?What are the dimensions ? What are the weather conditions ? …….
10/9 EDSGN 100
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
Basic System Architecture of an Automated System
Basic System Architecture of an Automated System
11/9 EDSGN 100
POWER CIRCUITRY
SENSORS
COMPUTER ACTUATORSD D
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
12/9 EDSGN 100
POWER CIRCUITRY
Hokuyo Laser : 5V
Machine Vision Camera :12V
SICK Laser : 24V
Battery : 12v
Car Alternator : 10-15v
GPS :5 -18 V
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
13/9 EDSGN 100
POWER CIRCUITRY
5V
12V
24V
Battery : 12v
Car Alternator : 10-15v
Charge Controller: 10-15v
Power Supply
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
Network Based ArchitectureNetwork Based Architecture
14/9 EDSGN 100
SENSORS
COMPUTER ACTUATORS
S1
S4
S2
S3COMPUTER
A1 A2Direct Connection Architecture
COMPUTER
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
Network Based ArchitectureNetwork Based Architecture
15/9 EDSGN 100
SENSORS
COMPUTER ACTUATORS
S1
S4
S2
S3
COMPUTER
A1 A2
COMPUTER
Device Server
Device Server
HUB
COMPUTER
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
LasersLasers
16/9 EDSGN 100
SICK LMS 291
Scan Rate : 75HzRange : 80 metersAngle : 180Price : $4400
Hokuyo
Scan Rate : 10HzRange : 4 metersAngle : 270Price : $2375
AR 1000
Range : 30 mAngle : Line
AR 1000
Range : 200 mAngle : Point
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
BAE ProjectBAE Project
17/9 EDSGN 100
Be innovative ! Would it be possible to connect them on a network !!!Check out the equipment that is already on a Humvee Do not forget to do a failure analysis
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
LinksLinks
http://www.acuitylaser.com/products.shtml
http://www.acroname.com/robotics/parts/c_Sensors.html
http://www.sickusa.com
www.darpa.mil/
18/9 EDSGN 100
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Intelligent Vehicles and Systems GroupThe Pennsylvania State University
ConclusionConclusion
What are the questions that you need to ask about sensors ?
What is power circuitry that is used in these systems?
What is a network based architecture and why is it better?
Lasers
19/9 EDSGN 100