Table of Contents
Team Vision for Subsystem-Level Design Phase
This phase included diving into some of our selected concepts. A branch and bound algorithm was developed to determine the shortest path given a set of valid way points, starting point, and destination. The team also identified the various components going into the enclosure and developed a model testing the feasibility of the LiDAR mounted at different heights. Lastly, the team identified a potential emergency stop solution.
The team accomplishments in the problem definition phase can be seen in the Subsystems Design Review.
Feasibility: Prototyping, Analysis, Simulation
The team created a path planning prototype using Dijkstra's algorithm and Google Earth to determine the shortest path between beginning and ending inputs. Additionally, an analysis was done on the different mounting heights of the LiDAR to see how much different the LiDAR's vision could vary.
Path Planning Prototype
- Step One: Google Earth was used to define valid way points in the courtyard.
- Step Two: KML file was inputted with paths and the points were extracted.
- Step Three: A graph was built from the points and the shortest path among those points was solved for using Dijkstra's algorithm.
- Step Four: The graph was then outputted to a KML files showing starting/finishing locations and the solved shortest path.
Additional information on this prototype can be seen here.
LiDAR Mounting AnalysisThree different height locations were analyzed during the study
- 4.5" Above Roof
- 4" Below Roof
- 8" Below Roof
- 4.5" Above Roof: Resulted in a distance of 83" till waist height and 218" till the ground
- 4" Below Roof: Resulted in a distance of 30" till waist height and 159" till the ground
Drawings, Schematics, Flow Charts, etc.The team identified the many different components that must go into the enclosure, however, was delayed in the design in waiting for the dimensions of the donated enclosure. Additionally, the team also started designing an emergency stop in which no software is needed.
Electronics EnclosureThe different components that were identified as going into the enclosure are:
- Arduinos (3)
- PC Board
- 12V Power Converter
- Remote Control Wireless Antenna
- Brake Actuator Control
- Cooling Fan(s)
- Space for Future Phases
Emergency StopA potential starting point for the emergency stop stuck out to the team. Additionally, we tried the goal of not utilizing software to complete the emergency stop.
Bill of Materials (BOM)The bill of materials will be developed in the next phase as we become more specific in our designs.
Risk AssessmentThe team decided to add some risks and color code the risk assessment to easily identify risks of high importance.
Corresponding Document: Risk Assessment