useful information about sensors from Pramod Krishna.

Intelligent Vehicles and Systems Group

The Pennsylvania State University

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Autonomous System Navigation

and

Driver Augmentation

Pramod Vemulapalli

Graduate Research Assistant


Intelligent Vehicles and Systems Group

The Pennsylvania State University

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My Background : Robots , Simulators
and more
…



Intelligent Vehicles and Systems Group

The Pennsylvania State University

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Hardware

HONEYWELL

HG1700 IMU

CROSSBOW

IMU

SHARP

IR SENSOR

NOVATELL

GPS RECIEVER

HOKUYO

LASER


SICK

LASER


Intelligent Vehicles and Systems Group

The Pennsylvania State University

ψ
-
DAP

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Intelligent Vehicles and Systems Group

The Pennsylvania State University

Reconstruction of the Road from the
Laser , GPS and IMU data

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Intelligent Vehicles and Systems Group

The Pennsylvania State University

How to choose sensors ?



Choosing Sensors must be done by a Cost
–

Benefit
analysis and by understanding the needs and resources
the design problem presents


Asking the right questions can save you $$$


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Intelligent Vehicles and Systems Group

The Pennsylvania State University

Some Questions that you might

want to ask about sensors



What is the power requirement ?





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Intelligent Vehicles and Systems Group

The Pennsylvania State University

Some Questions that you might

want to ask about sensors



What is the sensing capability that is
required ?



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Camera

Lidar


GPS


What is the scan rate, accuracy , resolution ???


Intelligent Vehicles and Systems Group

The Pennsylvania State University

How are the sensors interfaced ?


How are the sensors interfaced ?

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USB

Serial Port

Analog

WIFI


Intelligent Vehicles and Systems Group

The Pennsylvania State University

Some Other Questions ?


What is the weight ?


What are the dimensions ?


What are the weather conditions ? …….

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Intelligent Vehicles and Systems Group

The Pennsylvania State University

Basic System Architecture of an
Automated System

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POWER CIRCUITRY


SENSORS



COMPUTER



ACTUATORS


D

D


Intelligent Vehicles and Systems Group

The Pennsylvania State University

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POWER CIRCUITRY

Hokuyo Laser : 5V


Machine Vision Camera :12V



SICK Laser : 24V


Battery : 12v


Car Alternator : 10
-
15v


GPS :5
-
18 V



Intelligent Vehicles and Systems Group

The Pennsylvania State University

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POWER CIRCUITRY

5V


12V


24V


Battery : 12v


Car Alternator : 10
-
15v


Charge Controller: 10
-
15v


Power Supply



Intelligent Vehicles and Systems Group

The Pennsylvania State University

Network Based Architecture

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SENSORS



COMPUTER



ACTUATORS


S1

S4

S2

S3

COMPUTER

A1

A2

Direct Connection Architecture

COMPUTER


Intelligent Vehicles and Systems Group

The Pennsylvania State University

Network Based Architecture

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SENSORS

COMPUTER

ACTUATORS

S1

S4

S2

S3

COMPUTER

A1

A2

COMPUTER

Device Server

Device Server

HUB

COMPUTER


Intelligent Vehicles and Systems Group

The Pennsylvania State University

Lasers

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SICK LMS 291


Scan Rate : 75Hz

Range : 80 meters

Angle : 180

Price : $4400




Hokuyo


Scan Rate : 10Hz

Range : 4 meters

Angle : 270

Price : $2375




AR 1000


Range : 30 m

Angle : Line




AR 1000


Range : 200 m

Angle : Point





Intelligent Vehicles and Systems Group

The Pennsylvania State University

BAE Project

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
Be innovative ! Would it be possible to connect them on
a network !!!


Check out the equipment that is already on a Humvee



Do not forget to do a failure analysis


Intelligent Vehicles and Systems Group

The Pennsylvania State University

Links


http://www.acuitylaser.com/products.shtml



http://www.acroname.com/robotics/parts/c_Sensors.ht
ml



http://www.sickusa.com



www.darpa.mil/







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Intelligent Vehicles and Systems Group

The Pennsylvania State University

Conclusion



What are the questions that you need to ask about
sensors ?



What is power circuitry that is used in these
systems?



What is a network based architecture and why is it
better?



Lasers

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