1. Intelligent Vehicles and Systems Group The Pennsylvania State University 1/9 EDSGN 100 EDSGN 100 Autonomous System Navigation and Driver Augmentation Pramod Vemulapalli Graduate Research Assistant

2. Intelligent Vehicles and Systems Group The Pennsylvania State University 2/9 EDSGN 100 My Background : Robots, Simulators and more …

3. Intelligent Vehicles and Systems Group The Pennsylvania State University 3/9 EDSGN 100 Hardware HONEYWELL HG1700 IMU CROSSBOW IMU SHARP IR SENSOR NOVATELL GPS RECIEVER HOKUYO LASER SICK LASER

4. Intelligent Vehicles and Systems Group The Pennsylvania State University ψ-DAP 4/9 EDSGN 100

5. Intelligent Vehicles and Systems Group The Pennsylvania State University Reconstruction of the Road from the Laser, GPS and IMU data 5/9 EDSGN 100

6. Intelligent Vehicles and Systems Group The Pennsylvania State University How to choose sensors ?  Choosing Sensors must be done by a Cost – Benefit analysis and by understanding the needs and resources the design problem presents  Asking the right questions can save you $$$ 6/9 EDSGN 100

7. Intelligent Vehicles and Systems Group The Pennsylvania State University Some Questions that you might want to ask about sensors  What is the power requirement ? 7/9 EDSGN 100

8. Intelligent Vehicles and Systems Group The Pennsylvania State University Some Questions that you might want 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 ???

9. Intelligent Vehicles and Systems Group The Pennsylvania State University How are the sensors interfaced ?  How are the sensors interfaced ? 9/9 EDSGN 100 USB Serial Port Analog WIFI

10. Intelligent Vehicles and Systems Group The Pennsylvania State University Some Other Questions ?  What is the weight ?  What are the dimensions ?  What are the weather conditions ? ……. 10/9 EDSGN 100

11. Intelligent Vehicles and Systems Group The Pennsylvania State University Basic System Architecture of an Automated System 11/9 EDSGN 100 POWER CIRCUITRY SENSORS COMPUTER ACTUATORS D D

12. Intelligent Vehicles and Systems Group The 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

13. Intelligent Vehicles and Systems Group The Pennsylvania State University 13/9 EDSGN 100 POWER CIRCUITRY 5V 12V 24V Battery : 12v Car Alternator : 10-15v Charge Controller: 10-15v Power Supply

14. Intelligent Vehicles and Systems Group The Pennsylvania State University Network Based Architecture 14/9 EDSGN 100 SENSORS COMPUTER ACTUATORS S1 S4 S2 S3 COMPUTER A1 A2 Direct Connection Architecture COMPUTER

15. Intelligent Vehicles and Systems Group The Pennsylvania State University Network Based Architecture 15/9 EDSGN 100 SENSORS COMPUTER ACTUATORS S1 S4 S2 S3 COMPUTER A1 A2 COMPUTER Device Server HUB COMPUTER

16. Intelligent Vehicles and Systems Group The Pennsylvania State University Lasers 16/9 EDSGN 100 SICK LMS 291 Scan Rate : 75Hz Range : 80 meters Angle : 180 Price : $4400 Hokuyo Scan Rate : 10Hz Range : 4 meters Angle : 270 Price : $2375 AR 1000 Range : 30 m Angle : Line AR 1000 Range : 200 m Angle : Point

17. Intelligent Vehicles and Systems Group The Pennsylvania State University BAE 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

18. Intelligent Vehicles and Systems Group The Pennsylvania State University Links  http://www.acuitylaser.com/products.shtml http://www.acuitylaser.com/products.shtml  http://www.acroname.com/robotics/parts/c_Sensors.ht ml http://www.acroname.com/robotics/parts/c_Sensors.ht ml  http://www.sickusa.com http://www.sickusa.com  www.darpa.mil/ 18/9 EDSGN 100

19. Intelligent Vehicles and Systems Group The Pennsylvania State University Conclusion  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