Projects:2015s1-26 Autonomous robotics using NI MyRIO - Revision history

A1067065: A1067065 moved page Projects:2015s1-26 Antonomous robotics using NI MyRIO to Projects:2015s1-26 Autonomous robotics using NI MyRIO

2015-10-23T01:33:24Z

A1067065 moved page Projects:2015s1-26 Antonomous robotics using NI MyRIO to Projects:2015s1-26 Autonomous robotics using NI MyRIO

A1651007: /* Project outcomes */

2015-10-22T17:05:57Z

‎Project outcomes

A1651007: /* Project outcomes */

2015-10-22T17:02:05Z

‎Project outcomes

A1651007: /* Project outcomes */

2015-10-22T16:32:55Z

‎Project outcomes

A1607713: /* Competition Planning */

2015-10-22T16:32:35Z

‎Competition Planning

A1607713: /* Recommendations and Future Work */

2015-10-22T16:31:42Z

‎Recommendations and Future Work

A1651007: /* Project outcomes */

2015-10-22T16:22:20Z

‎Project outcomes

A1607444 at 16:01, 22 October 2015

2015-10-22T16:01:34Z

A1607444: /* Deliverables and Milestones */

2015-10-22T15:57:57Z

‎Deliverables and Milestones

A1607444: /* Competition Planning */

2015-10-22T15:53:50Z

‎Competition Planning

@@ Line 214: / Line 214: @@
 Localisation will require more refinement as its accuracy is not suitable for use.
-[[File:Good Run.gif]] [[File:Good Run.gif]]
+[[File:Good Run.gif]]
-video of ternimal 1 and 3 unloading test ( robot view )          video of ternimal 1 and 3 unloading test ( observer view )
+video of ternimal 1 and 3 unloading test ( robot view )
 == Recommendations and Future Work ==

@@ Line 214: / Line 214: @@
 Localisation will require more refinement as its accuracy is not suitable for use.
-[[File:Good Run.gif]]
+[[File:Good Run.gif]] [[File:Good Run.gif]]
-video of ternimal 1 and 3 unloading test ( robot view )
+video of ternimal 1 and 3 unloading test ( robot view )          video of ternimal 1 and 3 unloading test ( observer view )
 == Recommendations and Future Work ==

@@ Line 214: / Line 214: @@
 Localisation will require more refinement as its accuracy is not suitable for use.
-[[File:Good Run.gif]] [[File:Good Run.gif]]
+[[File:Good Run.gif]]
 == Recommendations and Future Work ==

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 •	Assist in navigation and localisation
-•	Corner detection using Kinect
+•	Terminal and corner detection using Kinect
 Adam Mai:

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 == Recommendations and Future Work ==
-One possible improvement which was unexplored is the use of an additional processor. The competition has no restrictions on the use of other processors except that the MyRIO must be the central processing unit and while it is flexibleit lacks computational power. The Monte Carlo Localisation is a proven technique but requires high processing power as discussed in Section 6.2. It has been shown to localise a mobile robot in an area much larger than the competition track. A drawback is the increased cost of the addition of a processor.
+One possible improvement which was unexplored is the use of an additional processor. The competition has no restrictions on the use of other processors except that the MyRIO must be the central processing unit and while it is flexible, it lacks computational power. The Monte Carlo Localisation is a proven technique but requires high processing power. It has been shown to localise a mobile robot in an area much larger than the competition track. A drawback is the increased cost of the addition of a processor.
-Basic functions have been achieved with the Kinect in terms of navigation however methods such as 2D SLAM as discussed in Section 5.2 provides a  more comprehensive solution to the spatial awareness of the robot. The visual mapping of the environment provides valuable insight on the sensory performance of the robot which provides useful insight into its decision making. One key limitation was the lack of knowledge and experience in image processing and this was compounded by the required use of LabVIEW. Future groups attempting this project should consist of at least one member with a working knowledge in image processing.
+Basic functions have been achieved with the Kinect in terms of navigation however methods such as 2D SLAM provides a  more comprehensive solution to the spatial awareness of the robot. The visual mapping of the environment provides valuable insight on the sensory performance of the robot which provides useful insight into its decision making. One key limitation was the lack of knowledge and experience in image processing and this was compounded by the required use of LabVIEW. Future groups attempting this project should consist of at least one member with a working knowledge in image processing.
 Following from this, the Kinect was mounted at a height above the track boundaries and was tilted 10 degrees towards the surface. This added complexity in processing the data obtained as it provides more information than desired as it is able to overlook boundaries and see objects further away. This is both an advantage and disadvantage. The extra information obtained can be used for better spatial recognition however it requires extra processing.
 Data logging and internal monitoring of the system is a valuable tool for debugging. The movement commands and internal states of the robot was displayed but data logging was not implemented. It was a common occurrence that the robot was transitioning into the next state prematurely and without data logging, the high data throughput was not easily interpreted in finding the error. Such a technique would allow for a systematic approach in debugging and improve overall efficiency in the implementation and testing phases while providing valuable insight into the sensory readings.
 == Video and Resources ==

← Older revision	Revision as of 01:33, 23 October 2015
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← Older revision		Revision as of 16:01, 22 October 2015
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	Several project constraints have been set by National Instruments and the university that will affect the design and production of the autonomous robot. Firstly, the system must be designed to include the MyRIO as the main or only processing unit. Secondly, the majority of the programming must be accomplished in LabVIEW. Besides, The insufficient FPGA resources on MyRIO limits the choices of robot control strategies and requests a high code efficiency. There are also restrictions in budget, with a total of $2250 being provided to purchase all components and materials for prototype robot and full size competition course. Therefore, as the team aims to minimise project spending, component options will become more limited. The size of the robot is also constrained by the height of the cargo terminal housings as well as by the width of the taped areas [14]. Lastly, time is a large constraint in this project as missing milestones relating to the National Instruments competition will result in a forfeit. As such, this constraint will need to be addressed properly to ensure task dates are met.		Several project constraints have been set by National Instruments and the university that will affect the design and production of the autonomous robot. Firstly, the system must be designed to include the MyRIO as the main or only processing unit. Secondly, the majority of the programming must be accomplished in LabVIEW. Besides, The insufficient FPGA resources on MyRIO limits the choices of robot control strategies and requests a high code efficiency. There are also restrictions in budget, with a total of $2250 being provided to purchase all components and materials for prototype robot and full size competition course. Therefore, as the team aims to minimise project spending, component options will become more limited. The size of the robot is also constrained by the height of the cargo terminal housings as well as by the width of the taped areas [14]. Lastly, time is a large constraint in this project as missing milestones relating to the National Instruments competition will result in a forfeit. As such, this constraint will need to be addressed properly to ensure task dates are met.
		+
		+	== Competition Requirements ==
		+
		+	The National Instruments Autonomous Robotics Competition (NIARC) require university teams to complete a number of requirements before they are permitted to go to the finals. The competition calls for the design of an efficient robot that will safely navigate in a ship yard environment [14]. The robot needs to be safe such that it does not cause any harm to its environment. In real world situations, it is very critical that technology is safe to use in its surrounding environment so that it does not cause injury to personnel. This competition required teams to develop and show through video that they are able to:
		+
		+	• Control a motor and sensor
		+
		+	• Demonstrate that their robot can avoid obstacles
		+
		+	• Demonstrate that their robot can navigate itself to a designated position whilst knowing where it is approximately located in the track (localisation)
		+
		+	• Demonstrate that their robot can hold on to cargo and unload them at designated positions
		+
		+	Deadlines for these demonstrations had to be met throughout the year and if any of these milestones were missed, the team would no longer be able to participate in the finals. In order to achieve these requirements, the robot required the following subsystems:
		+
		+	• Static/Dynamic Obstacle Avoidance subsystem
		+
		+	• Navigation and Localisation subsystem
		+
		+	• Path Planning subsystem
		+
		+	• Object Handling subsystem
		+
		+	It should also be noted that as a restriction placed on teams, the myRIO had to be the main processing unit and the majority of the software code had to be written in LabVIEW.

	== Competition Planning ==		== Competition Planning ==

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 == Deliverables and Milestones ==
-This project has two sets of milestones: one for the university and one for National Instruments. As the project requires the collaboration between the under graduate and post graduate groups, there will be two sets of milestone tables for the university.
+This project has two sets of milestones: one for the university and one for National Instruments. As the project requires the collaboration between the under graduate and post graduate groups, there will be two sets of milestone tables for the university. It was very important that the team met all the competition milestones as failing to meet any one would have resulted in a forfeit.
 [[File:Milestones.png]]

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 '''3.2.	Budget'''
-The total budget made available to the under graduate group is $750 with $250 being provided for every group member. The current budget estimate was calculated to be $320 which includes an overhead of twenty percent. This covers the costs of all the sensors and electronic components associated with them. The list has been composed with cost minimisation as its main aim and does not include any mechanical components such as motors, wheels, batteries and the frame to create the robot.
+The total budget made available to the under graduate group was $750 with $250 being provided for every group member. In comparison, the post graduate group had a budget of $1500 with $500 being granted for each member. The total amount spent on robot was $869. However, this amount does not include costs for shipping, the myRIO device, the printed circuit boards and any 3D printed structures. The amount spent on the final robot can be viewed in the table below.
-The total budget made available to the post graduate group is $1500 with $500 being provided for every group member.the total estimated budget is $1200 which includes the cost of electrical and electronic and mechanical components to create the robot and the test course expect mechanical components made by school workshop studio like the frame of the robot.
+[[File:Budget.jpg]]
 == Deliverables and Milestones ==