1. Steven Rois (ME) Chris Wakeley (ME) Andrew Krall (ME) Kenneth Smith (ME) Advisor: Prof. George Slack October 14, 2009

2. Agenda  Mission Statement  Stakeholder Needs  Objective Tree  Project Component Discussion Chassis Design Sensors/Software Motor Modules Motor Controllers  Project Roadmap  Next Steps  Time Table

3. Mission Statement  To develop a modular robotics platform with scalable components for use in educational and research environments

4. Systems Integration Improve wiring layout Easily add/remove components BUS integration WCOSS integration Platform Lighter materials Payload-robot interface Metric vs standard fasteners Size and weight issues Modular chassis design Motor Controller Consolidate motor controllers Reduce space of PCBs Improve efficiency of PCBs Sensors Utilize encoder data for navigation Make sensors modular Use sensors from other teams WOCCS, Roving Ambassador Motor Module Modify gear ratio for efficiency Consider motor response curves and reverse operation Low frequency PWM causes motor chatter Buy motors that meet specs Software Reuse existing software from past teams Possibly develop dedicated software design team Stakeholder Affinity Diagram

5. OA/OS Robotic land vehicle platform Motor Module Improve Efficiency Mechanical Motor Controller Increase Efficiency ScopeSensors Navigatio n EnvironmentChassisInterfaceOrganizeMaterialsSoftwareReuse Software Development Objective/Function Tree

6. Past Current 2006-2007: RP 1002007-2008: RP 10 2007-2008: RP1 Second Gen Motor Modules Plus chassis with integrated Mounts for modules, PCBs and sensors Chassis Progression P07205P08201 P09203

7. Chassis Design Interfaces Mounting sites for motor modules Areas for sensors/PC interface BUS System for modules Payload communication Organization Wiring harnessRun cables thru frame Mount components/battery below motor modules Improve stability Materials Lighter (improve efficiency) Low cost materials Keep mass mfg’ing in mind Strength-Cost trade offs

8. Short-Term Goals  Lighten chassis and allow room for internal wiring  Add more mounting locations for motor modules  Develop mounting areas for modular sensors  Add interface between platform and payload  Move PCBs and Batteries below motor mounts

9. Future Considerations  BUS system for motor modules  Easily manufacture parts from variety of materials (plastic, Al, Steel …)  Alternate power sources  Expandable interface to work with WOCCS and Roving Ambassador projects (P10215) (P10216)

10. Sensor System  Current Wheel Encoders * Current RP1 gen 2 robot is equipped with wheel encoders but no interface has been created to utilize them Encoder Image courtesy of USDigital.com

11. Sensor System  Future Navigation ○ Encoders ○ Proximity Sensors ○ Sonar ○ GPS ○ Inclinometer Environmental ○ Temperature ○ Pressure ○ Humidity ○ Light Level ○ Terrain Type Inclinometer Image courtesy of USDigital.com Sonar Sensor Image courtesy of trossenrobotics.com

12. Sensor System  Sensor Integration Universal Mounting Universal Connecting ○ USB? ○ Firewire? Universal Open Source Operation Auto Recognizing Swappable Sonar Sensor Image courtesy of emusician.com Linux Logo Image courtesy of blog.gofaxer.com

13. Motor Module Progression P07202 RP100 P07201 RP10 P08208 RP1 Gen 1 P09203 RP1 Gen 2 Past Current Generation 2 motor module 1/10 the size of 1 st generation

14. Motor Module Needs Mechanical DC motor to meet specifications Swappable wheels/tires Multiple driven/idle and total wheel combinations Electrical Wiring harness Prevent motor chatter due to low frequency PWM Materials Reduce WeightReduce Cost Keep mass mfg’ing in mind Strength-Cost trade offs

15. Short Term Goals  Improve manufacturability  Reduce cost to manufacture  Integrate with Gen 2 Motor Controllers  Improve mounting system

16. Future Considerations  Continue integration with future LV1 platforms  Scale to support 10 and 100kg payloads

17. Motor Control Progression RP10 Gen 2 RP1 Gen 1 RP1 Gen 2 Past Current

18. Short term goals  Merge power supplies  Merge microcontrollers  Merge DC drivers  Conserve space, improve efficiency  Integrate with 2nd generation motor modules, sensors, and chassis  Make connections via a wiring harness  Reduce costs

19. Future Recommendations  Continue to improve efficiency  Integrate effectively with all future iterations of the other project components  Evaluate any past failures and make improvements  Develop a design that can be scaled and used for any size platform.

20. 2 nd Gen Motor Module 2 nd Gen Motor Control 2 nd Gen Platform Sensors Software MSD 10- 11 3 rd Gen Motor Modules 3 rd Gen Platform Encoder Sonar Proxy Reuse existing software MSD 09- 10 MSD 11- 12 Develop software team 4 th Gen Platform Scale Up for RP10 and RP100 Use final RP1 design in other projects 08-09 09-10 10-1111-12 Overall Objectives Project Road Map

21. Next Steps  Hold additional stakeholder interviews  Finalize customer needs  Begin evaluating required resources  Begin considering staffing requirements

22. Land Vehicle Platform DPM Timetable Acton Item Timetable Week 5 Week 6 Week 7 Week 8 Week 9 Week 10 Week 11 Conduct Additional Stakeholder Interviews Develop Preliminary Customer Needs Develop Finalized Customer Needs Evaluate Required Resources Determine Staffing Requirements Final Project Readiness Presentation Attend Relevant MSD Reviews Project Timeline

23. References  https://edge.rit.edu/content/P07205/publi c/Home https://edge.rit.edu/content/P07205/publi c/Home  https://edge.rit.edu/content/P08201/publi c/Home https://edge.rit.edu/content/P08201/publi c/Home  https://edge.rit.edu/content/P09203/publi c/Home https://edge.rit.edu/content/P09203/publi c/Home

24. Questions/Discussion