Projects:2014s2-74 Antonomous Robotics using NI MyRIO - Revision history

A1191292 at 22:29, 4 June 2015

2015-06-04T22:29:57Z

A1191292 at 22:29, 4 June 2015

2015-06-04T22:29:27Z

A1634523: /* Motor Control Program */

2015-06-04T05:36:38Z

‎Motor Control Program

A1634523: /* Software Architecture Design */

2015-06-04T05:24:55Z

‎Software Architecture Design

A1634523: /* Software Architecture Design */

2015-06-04T05:18:21Z

‎Software Architecture Design

A1634523: /* Software Architecture Design */

2015-06-04T04:58:01Z

‎Software Architecture Design

A1634523: /* Software Architecture Design */

2015-06-04T04:57:21Z

‎Software Architecture Design

A1634523 at 04:48, 4 June 2015

2015-06-04T04:48:23Z

A1634523: /* Power System Architecture */

2015-06-04T04:35:53Z

‎Power System Architecture

A1634523: /* Power System Architecture */

2015-06-04T04:23:19Z

‎Power System Architecture

← Older revision		Revision as of 22:29, 4 June 2015
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−	~~===Previous Studies===~~
−	A final year project group modelled the single roundabout using teletraffic theory for their final year project in 2006 [8]. Their approach regarded the roundabout as a server accepting the queuing cars from each access road, and sending them to their intended exit roads. The group came to a conclusion that the roundabout was more efficient than an intersection with traffic lights under all traffic conditions addressed.
−	~~Our group will be reviewing the previous results in 2006 with our results of the dual roundabout for comparison of the two roundabouts~~

← Older revision		Revision as of 22:29, 4 June 2015
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	[[File:NIARCtrack.jpg\|600px\|thumb\|left\|NIARC Map and Task]] [[File:FarmArea.jpg\|450px\|thumb\|right\|Farming Area Dimensions]]		[[File:NIARCtrack.jpg\|600px\|thumb\|left\|NIARC Map and Task]] [[File:FarmArea.jpg\|450px\|thumb\|right\|Farming Area Dimensions]]

		+
		+	===Previous Studies===
		+	A final year project group modelled the single roundabout using teletraffic theory for their final year project in 2006 [8]. Their approach regarded the roundabout as a server accepting the queuing cars from each access road, and sending them to their intended exit roads. The group came to a conclusion that the roundabout was more efficient than an intersection with traffic lights under all traffic conditions addressed.
		+	Our group will be reviewing the previous results in 2006 with our results of the dual roundabout for comparison of the two roundabouts

@@ Line 207: / Line 207: @@
 '''Forward/Backward'''
 [[File:ForwardVI.png| 600px | ]]
 '''Rotate Left/Right'''
 [[File:Coderotate.PNG| 600px | ]]

@@ Line 186: / Line 186: @@
 '''Kinect Camera'''
 [[File:Kinect.png| 400px | ]]
 '''Image Processing Path'''
-A picture below shows the image processing method by using Kinect Camera:
+A picture below shows the image processing method used by Kinect Camera:
 [[File:Imageprocess.png| 500px | ]]
 === Motor Control Program===

@@ Line 175: / Line 175: @@
 [[File:Statemachine.png | frame | center | x400px | State Machine Diagram ]]
 [[File:Staterecord.PNG | frame | center | x300px | LabVIEW State Machine ]]
 == Future Work ==

@@ Line 173: / Line 173: @@
 <p>A state machine model has been developed for the robot as shown in the picture below. This model encapsulates all of the actions that the robot is required to do as per the competitions requirements. This model will be used to help implement the state machine design pattern in LabVIEW.</p>
-[[File:Statemachine.png | frame | left | x400px | State Machine Diagram ]]
+[[File:Statemachine.png | frame | center | x400px | State Machine Diagram ]]
-[[File:Staterecord.PNG | frame | left | x300px | LabVIEW State Machine ]]
+[[File:Staterecord.PNG | frame | center | x300px | LabVIEW State Machine ]]
 == Future Work ==

@@ Line 170: / Line 170: @@
 == Software Architecture Design==
-=== Experimental Panels ===
+=== Robot's Core Tasking Handling State Machine===
-<p>Experimental panels provide the user with controls for the various parameters of the solar system, wind system and main board. Data acquisition gets data from the sensors and this is displayed real-time on the screen. The “Capture Measurement” button allows users to capture all measurements simultaneously. Waveforms and captured data are displayed in plots for visualisation. File output features allow users to save their captured data to a spreadsheet. Students can then do post processing and generate graphs for reports.</p>
+<p>A state machine model has been developed for the robot as shown in the picture below. This model encapsulates all of the actions that the robot is required to do as per the competitions requirements. This model will be used to help implement the state machine design pattern in LabVIEW.</p>
-[[File:Experimental_Panel_-_Solar_01.png | frame | centre | x400px | Solar Experimental Panel ]]
+[[File:Statemachine.png | frame | left | x400px | State Machine Diagram ]]
-[[File:Experimental_Panel_-_Wind_01.png | frame | centre | x400px | Wind Experimental Panel ]]
+[[File:Staterecord.PNG | frame | left | x300px | LabVIEW State Machine ]]
 == Future Work ==

@@ Line 147: / Line 147: @@
 Where the motion controller is represented as the MyRIO device, it controls the entire locomotion system and process the position command to send the signal to the amplifier. The amplifier is referred to motor driver board, which provides the power to the motor and transfer the control signal to drive the motor. There are also feedback signals from motors to reflect the velocity and position of the moving robot. The encoder feedback is basically consisted of two Hall Effect sensors, which are magnetic to detect the magnetic field change by motor spinning, based on the frequency and direction of the pulse signal from two different sensors, the MyRIO device would be able to calculate the velocity and traveled distance of each motor.
-[[File:Sensors.jpg|400px]]
+=== Design Circuits Illustration ===
 {|
-| '''Solar'''
+| '''DC Motor Equivalent Circuit'''
 |-
-|[[File:SOLAR.png|400px|thumb|left]]
+|[[File:MotorCircuit.png|400px|thumb|left]]
 |-
-| '''Wind'''
+| '''Flyback Converter'''
 |-
-|[[File:WIND.png|400px|thumb|left]]
+|[[File:FlybackCircuit.png|400px|thumb|left]]
 |}
 <gallery widths=150px heights=150px caption="Circuits"> {
@@ Line 168: / Line 163: @@
 Fixed-load.png | The fixed load section allows PCBs with different R, RL and RC loads to be connected to investigate current and voltage characteristics.
 Battery-charger.png | This section provides a DC output from the board, measured by current and voltage sensors. A diode protects the board from the reverse flow of current.
-ph.png | A three phase sensor block measures the line voltages using differential amplifiers and the line currents using current shunt monitors.
+H-bridge.png | The H-bridge circuit allows AC to be generated from the DC output of the solar panel or rectifier, modelling grid connection.
 Inverter.png | A MOSFET based inverter topology is used on our PCB as a controlled three-phase rectifier, allowing the wind turbine output to be used with the DC-DC converter and MOSFET load.
 |}
 </gallery>
 == Software Architecture Design==
 === Experimental Panels ===

@@ Line 91: / Line 91: @@
 '''Distribution Board'''
 [[File:DistributionBoard.JPG|300px|]]
 '''Flyback Converter for MyRIO Device'''
 [[File:Flyback.JPG|300px|]]
 '''Inverting Converter for Motion System'''
 [[File:Inverting1.JPG|400px|]]
 '''Inverting Converter for Kinect Sensor'''
 [[File:Inverting2.JPG|400px|]]
 '''Final Robot Construction'''
 [[File:FinalRobot.jpg|400px|]]

@@ Line 85: / Line 85: @@
 '''Battery'''
 [[File:PowerSource.jpg|400px|]]
 === Locomotion System Design ===