P16241: Autonomous People Mover Phase 3
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Subsystem Design

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

Google Earth output showing the defined way points

Google Earth output showing the defined way points

Google Earth output showing the extraction of the points

Google Earth output showing the extraction of the points

Psuedo code of Dijkstra's algorithm used on valid way points to determine path

Psuedo code of Dijkstra's algorithm used on valid way points to determine path

Google Earth output showing the beginning and destination locations

Google Earth output showing the beginning and destination locations

Google Earth output showing the shortest path between the beginning and destination locations

Google Earth output showing the shortest path between the beginning and destination locations

Additional information on this prototype can be seen here.

LiDAR Mounting Analysis

Three different height locations were analyzed during the study
SolidWorks drawing with LiDAR 4.5

SolidWorks drawing with LiDAR 4.5" above the roof

SolidWorks drawing with LiDAR 4

SolidWorks drawing with LiDAR 4" below the roof

SolidWorks drawing with LiDAR 8

SolidWorks drawing with LiDAR 8" below the roof

Results

SolidWorks drawing showing the distance the LiDAR can see from the shown angle

SolidWorks drawing showing the distance the LiDAR can see from the shown angle

SolidWorks drawing showing the distance the the LiDAR can see from the shown angle

SolidWorks drawing showing the distance the the LiDAR can see from the shown angle

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 Enclosure

The different components that were identified as going into the enclosure are:
First draft drawing of sample computer enclosure

First draft drawing of sample computer enclosure

Emergency Stop

A 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.
Potential solution for cutting power to the motor

Potential solution for cutting power to the motor

Bill of Materials (BOM)

The bill of materials will be developed in the next phase as we become more specific in our designs.

Risk Assessment

The team decided to add some risks and color code the risk assessment to easily identify risks of high importance.
Risk Assessment as of 10/18

Risk Assessment as of 10/18

Corresponding Document: Risk Assessment

Design Review Materials

Plans for next phase

As for the plans for the detailed design phase, the key milestones that want to be achieved are seen below in the key milestones.
Key Milestones for the upcoming phases

Key Milestones for the upcoming phases


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