Power Point presentation

deadmancrossingraceAI and Robotics

Nov 13, 2013 (3 years and 9 months ago)

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Mahdi Jadaliha

Introduction


To estimate position has always been a
challenge for the mankind, be it navigating
spaceships using
I
nertial
N
avigation
S
ystems
(INSs), or simply crossing the desert using
compass or stars to find his direction.



Different applications call for different
methods, however, the main goal is the same
in all navigation: to estimate or measure
position or some of its derivatives.

Problem Definition


I have been several years in a
r
obotic team. My duty was
finding position of robots and obstacles.



since an INS refers to no real
-
world item beyond itself. It is
therefore self
-
contained, immune to jamming and
deception, non
-
radiating, and a good candidate for position
estimation in Autonomous Mobile Robots.

Problems with INS


Can’t measure speed directly



Can’t measure yaw directly



It is very dependant to temperature


* please refer to
http://en.wikipedia.org/wiki/Inertial_na
vigation_system

for more information.

Solved with Dodecahedron


Can measure speed directly

Dodecahedron calculates speed by measuring gyroscopic
torque on different facets.



Can measure yaw directly

advanced compassing mechanism is developed to estimate
the position of magnetic source(by scattered
measurements on the surface of dodecahedron) , therefore
we can find magnetic field of earth even in a complicated
environment.



It is not very dependant to temperature

measuring quantities with two sensors in opposite direction
reduces the effect of temperature on their biases
effectively.

I have DONE every steps of this
project by myself


Designing Micro controller and analog circuits
by
Altium

(
Protel
)



Designing PCB board by
Altium

(
Protel
)



Soldering



Programming Microcontroller by C (MPLAB)



Programming data accusation software on PC
by Delphi





I tried 3 times to make best
measurements

Main component of IMU modules

Each modules is a
complete
I
nertial
M
easurement
U
nit
(IMU). It has 3
perpendicular
axes of
measurement for
Accelerometers
and Gyroscopes.


Each module
(pentagonal) has
capabilities equal
to
Xsense

commercial
Products.

(
http://www.xsen
s.com/
)


However I designed this
Dodecahedron for Autonomous
vehicle, the modules can be used
in different configuration for
different propose.



Motion Tracking is one of the most
popular use of these modules.






Motion tracker

* please refer to very exciting Video
http://www.moven.com/Static/Docume
nts/UserUpload/Moven_movie/product_
reel2009.wmv

for more information.

From: www.xsense.com

Dodecahedron Hardware complexity


It is made from 770 discreet electrical component



Measures 108 Sensory Quantity



It uses Distributed Processing with 12 DSP



Support RS485, RS232, SPI, CAN to communicate



Advanced Data Structure to reduce communication
faults



Manage all process by Interrupts in an event trigger
manner to reduce power consumption



Uses DMA to decrease process load



Geometrical shape


Appendix: Platonic Solids

Name V F E F
-
Type Truncation Dual

tetrahedron 4 4 6 triangles truncated tetrahedron
tetrahedron

cube 8 6 12 squares truncated cube
octahedron

octahedron 6 8 12 triangles truncated octahedron
cube

dodecahedron 20 12 30 pentagons truncated dodecahedron
icosahedron

icosahedron

12 20 30 triangles truncated
icosahedron

odecahedron

tetrahedron

cube

octahedron

dodecahedron

icosahedron

All vertices, edge mid
-
points and face mid
-
points lie on concentric spheres

All faces are the same shape and are all regular polygons

Thus all edges are equal in length and face corners equal in angle.

Duals are also all
Plationic

Solids.

The cube is also called a hexahedron

[1] http://www.cit.gu.edu.au/~anthony/graphics/polyhedra/