L. Breuer V. Chavakula K, Cossel N. Donnellan K. Fisher M. Forte R. Grogan B. Heyneman C. Jeanty J. Jacks G. Hines M. Kimura E. Pallett B. Sexson E. Andrews Instructor
Vehicle Team Scope • Obtain, design, construct, maintain 2005 vehicle hardware • Upgrade, maintain existing vehicle (Homer & Bob) hardware • Keep vehicles in operational condition for testing • Support testing operations • Maintain shop, tools, and supplies
December 6 Status Chart Draft Sensor CJ, BH mount TF GPS BH IMU LB E m Magnetometer EP b OBDII e KC JL d d AC/DC power e CJ d BS Emergency stop KC, KW KF E buttons CJ Note: ME 72 will do gimballed sensor platform Terrain Internal & External Communication, ND, MJF Audio KF Audible warning, flasher Custom KC, JL, OBD TF LB CJ Ignition Brake Computer mounting rack KW, MK GH, CJ Padding, fire suppression, seat belts KW 3 computer workstation seats KC, GH KF Vehicle 2005: Sportsmobile 4 WD KC, GH actuation KF, JL TF Trans. actuation KC, MK MJF Steering KC, MJF actuation MK, JL TF Air Conditioning GH KC Throttle actuation E m b e d d e d
Architecture & Specifications • • Vehicle Specs Power – – – • Mounts and arrangement – – component must be easily mounted/dismounted for replacement, upgrading or repair Sensor Mount • physically modular bolt down cage accessible, sealed and weatherproof (robustness) • • onboard A/C Each component to be self cooled or cooled by stock A/C (ducted) Accommodation – – • • common physical backbone easily re-routable, modular design cable connectors. Robust and redundancy color coding of cables Cooling – – • Cabling – – Computing – – • do not use external generator high output alternator for 12 V invertor for 110 AVac may use two 12 V alternators Backup; Deep Cycle Batteries panel with switch and fuse/indicators for diagnostic • driver and >2 passengers possible extended/double/super cab Van Actuation – – – human drivable with computers both on and off time to convert between human and autonomous must be minimal possible use of handicap actuation system the response time of the actuated system is to be as fast as human driver performance of the system must be as good as stock • • • accurately calibrated, efficiently and repeatably move sensor between vehicles (15 min) high frequency/amplitute damping system universal sensor mount vs individual sensor mount robust mounting cables Sensor mount to be located as far forward as possible GPS mount to be located as high as possible. GPS mount to be rigid and close to sensor mount sensor protection to be robust enough to withstand predictable impact esp for homer ability to withstand weather during pausing time make vehicle waterproof Safety – – – do not disable stock seat , seat belt Disable-able airbags onboard fire fighting equipment Passengers wear helmets individually accessible door for each occupant • E-stop • Suspension – – – to provide accommodation for E-stop system make vehicle off road capable upgrade from stock accordingly
Assignments Component Initials of people assigned to task E buttons Spiral 2 job CJ Computer mount KW MK GH Padding, fire suppression, seat belts Spiral 2 job KW Magnetometer EP Internal & External Communication, Audio Spiral 2 job ND MJF KF GPS BH Custom OBD Spiral 2 job KC JL TF Air Conditioning GH Computer workstations Spiral 2 job KC GH KF Audible warning, flasher Spiral 2 job LB sensor mount Spiral 2 job CJ TF BH OBDII KC JL AC/DC power CJ BS Emergency Stop Spiral 2 job KC KW KF Transmission Actuator Spiral 2 job KC MK MJF Throttle Actuator KC Steering Actuator MK KC MJF JL TF BS CJ Transfer Case Actuator Not going to happen Brake Actuator KC MK MJF JL TF GH KF CJ Ignition Actuator Spiral 2 job IMU LB
Component Vehicle OBD-II People Kevin Cossel Specifications Provided by the other teams Connected to Component Connected to vehicle engine management; embedded state server Interface Serial cable Tasks for Spiral 1 Determine what outputs are required by the other teams Component Custom On-board diagnostics People Kevin Cossel Specifications Determined by the other teams (embedded, planning, and terrain) Connected to Component Vehicle engine management; Embedded state server Interface Serial Cable Tasks for Spiral 1 Determine what data is requested by the other teams.
Component Brake Actuator People Kevin Cossel Michael Forte Margot George Hines Ken Fisher Cedric Jeanty Specifications Switch between human- and machine-drivable will occur with removal of tie rod 4 -bit serial interface Supplied by AI Motorvators 4 drive cylinders with a fifth e-stop cylinder for failsafe 16 discrete braking positions Installed under driver’s seat Connected to Component Vehicle brake Computer Systems via Embedded Team Air Compressor Interface Tasks for Spiral 1 Vehicle Embedded (Pneumatic lines to vehicle compressor, and serial interface to embedded) Work with Chris Pederson to assure that actuator is installed 1 -2 weeks before field test Implement in-house system for disconnecting actuator from brake pedal for human driving
Component Steering Actuator People Kevin Cossel Michael Forte Margot Ben Sexson Specifications Human driveable Fast switching to automonous mode Simple electrical interface Fast response time Connected to Component Vehicle steering system; DC motor controller; Power generation system Interface Power supply to Servo controller to DC motor (high current wires) Tasks for Spiral 1 Determine what actuators will be used and work on obtaining actuators. Design and implement mounts
Component Throttle Actuator People Kevin Cossel Jeff Lamb Specifications Human driveable Fast switching to automonous mode Simple electrical interface Fast response time Connected to Component Connected to vehicle throttle; throttle controller Interface Electrical connection to gas pedal position sensors Tasks for Spiral 1 Determine what actuators will be used and work on obtaining actuators. Design and implement mounts
Component A/C-D/C Power Generation and Conditioning People Cedric Jeanty Ben Sexson Specifications • Add dual 210 amp 12 v alternators to the engine • A battery bank capable of providing about 2 hours of power to most components • Power inversion equipment (Inverters) to supply 4 KW • Converters for various other power needs will be determined as those needs arise • Monitoring equipment as needed by embedded Connected to Components consist of: Battery bank; Vehicle battery(charging system); Power distribution/ monitoring equipment; Alternator(s); Vehicle engine; Interface • Large high current cable between alternators and battery bank • Even larger cable between battery bank and Inverters • 20 Amp lines from output of inverters to power distribution box • Interface to monitoring system which is to be determined by Embedded Team Tasks for Spiral 1 Determine what data is requested by the other teams. Determine what the power requirements for various vehicle subsystems (Actuators, Sensors, Vehicle Warning System. . . ). Communicate design ideas and Specs to Sportsmobile for implementation Acquire needed equipment for installation if Sportsmobile cannot.
Component Magnetometer People Elliott Pallett Specifications Magnetometer Make: PNI Corporation Model: TCM 2 Electronic Compass Module Take highly accurate compass readings, backup for GPS. (we’re using the same one from last year. Works fine. ) Connected to Component Via Serial Connection to Computer Box Power Physically connected to gimballed sensor mount Interface Serial Cable Tasks for Spiral 1 Decide on now/last year’s magnetometer.
Component IMU People Luke Breuer Specifications Mounted on the frame, close to the sensor gimble? Requires 3 different power inputs Turned on in a specific order, turned off in the reverse order Damage may occur if this power sequence is not followed Do we rely on power to all three supplies being available (i. e. trust the uninterruptible power), or do we integrate some sort of short term (perhaps ~10 seconds, or even less) batteries? Most likely use a small microcontroller to sequence power and allow electronic control. Should the microcontroller monitor the voltages on the supplies? Data acquired by a Windows laptop with a capture card? Connected to Component Embedded state server Interface Serial interface RS 232 and to finicky power supply Tasks for Spiral 1 Provide sensor mount if possible (mostly a spiral 2 job)
Component GPS People Barrett Heyneman Specifications Power: single 12 V power supply Data: serial cable, able to reach the computing box Connected to Component Mounting: Vehicle Roof/Sensor Mount Power: Power generation 12 V output Data Acquisition: Computers/Computer Box Interface Embedded Sensor/Actuation sub-team Tasks for Spiral 1 Determine mounting requirements.
Component Sensor Mount People Barrett Heyneman Cedric Jeanty Tully Foote Specifications Allow for sensors to mount to the vehicle (roof most likely) and clear the 9’ overpass restriction, while being in positions useful to the terrain team. Connected to Component Vehicle (roof? ) Sensors (LADAR, cameras, etc) Interface Terrain Team (for sensor placement requirements) Tasks for Spiral 1 Get specs from Terrain Team Begin preliminary designs
Component Air Conditioning People George Hines Specifications Non-stock A/C will cool computers by ducting air into the bottom of the box, forcing in upward past the computers in a positive pressure environment to assure circulation (6 vents in, ~5 vents out) Number of units: 2 o. Make: Ford o. Model: stock E-350 o. Make: Danhard o. Model: 00942 Tasks: cool computing equipment by maintaining 65° in the computer box opassengers: self-controlled Connected to Component Computer box Passenger stations Power generation Interface Vehicle Computer box via Flexible air ducts Tasks for Spiral 1 Develop specifications (see above) Danhard A/C (computers) will not be implemented until Spiral 2
Component Computer Box People Kevin W. Margot George Specifications Nominal 22 U storage space (~18 U usable) Clearance for computers: 2" in front and 15” in back Clearance for ethernet swtiches and SDS: 6’’ in back (mounted backwards) Damp vibration and shock to <20 G for 11 ms (4 x 2 K 2 -BA-90 machine mounts from Barry Controls) Ducting in appropriate places to provide air conditioning to the computers Interior width: 38. 5’’ Interior height: 20’’ Interior depth: 36’’ Connected to Component Vehicle Computers Sensors via cabling A/C Power generation Interface Vehicle Team (A/C, power, mounting) Vehicle Team Embedded Team (computing/network) Vehicle Team Terrain Team (sensors) Tasks for Spiral 1 Assure that Sportsmobile builds box to specs and delivers as planned
Timeline • December 29 field test • By spring break, Fully actuated vehicle with full sensor suite, and capability of autonomous driving
Скачать презентацию L Breuer V Chavakula K Cossel N Donnellan
5643627f820697da5edaf4e64f137fd7.ppt