1. LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas, Danielle E. Johnson, Nathaniel Johnson, Dave Daraskavich, Bill Gale, Brett Richardson

2. LTU H 2 Bot

3. Presentation Outline Team Structure and Design Approach Design Features Mechanical Design Electrical Design Software Design Performance

4. Team Structure & Design Approach Multi-Disciplined: CS, ME, EE, CE Explore multiple designs (sets) early Compare and Mockup Design sub-teams with collaborative integration Portable software development on 2005 vehicle

5. Dual Power – Fuel Cell, Battery Modules PCB Power distribution Fail-safe Brakes & HW Speed Limit Brushed DC Motors / Planetary Gear Sets Robust Extruded Aluminum Frame JAUS Wireless Interface LMS, Camera, Compass, DGPS Key Hardware Features

6. Power Modules – Fuel Cell 1.2kW Ballard Hydrogen PEM Fuel Cell Hydrogen Leak Detection Self-regulating Microprocessor control PV Charge Controller regulates System Voltage (24V) DC-DC converter feed 12V bus 8 hour run time per tank

7. Power Modules - Battery Interchangeable with Fuel Cell Module 40 Ah X 24 V Battery configuration DC-DC Converter supplies 12V bus Built-in Automatic Charger 5 hour run time

8. Power Distribution Box 2-layer PCB 12V & 24V buses Regulated 24V supply eStop Motor Power Relay Sensor Power Switches Inexpensive Connector System Battery Module Fuel Cell Module Power Distribution Box

9. Software Concept Sun Java and Eclipse IDE Object-Oriented, Portable, and Scalable Independent threads for communication, signal processing for each device Fault-tolerant, watchdog concept for all devices Data time-stamping

10. Software Architecture SensorsPath Planning World Map Sensor Fusion Path Execution Calibration Motor Controller H 2 Bot Software Architecture Warning Indicators JAUS Receiver

11. Vision Processing Pixel Classification Teaching Image Manual Enhancement HUV Color Cube Avoid Non- Background Region

12. Sensor Fusion Virtual Grid World Frame Image Pixels projected to Ground Plane LMS Data Overlayed with Video Compass tracks Vehicle Orientation in Grid Frame GPS and Dead-Reckoning track position in Grid Frame

13. Performance Gradability: minimum 2.5 curb Max Speed: 4.2 mph Power Consumption: 50-150W Range: Fuel Cell 8 hrs, Battery 5 hrs Failsafe Brake Capacity: > 30% grade LMS Range: 8.1m