Preliminary Detailed Design
Table of Contents
Team Vision for Preliminary Detailed Design PhaseSummarize:
- What did your team plan to do during this phase?
- What did your team actually accomplish during this phase?
APM Profiling For FeasibilityIn order to assess the feasibility of using existing sensors and components for the goal of wandering, as well as to assess the ability of the APM with the chosen systems in performing wandering and identifying dead zones and limitations of the cart, the systems of the APM were tested and profiled to extract usable metrics of performance. In the first phases of profiling the APM, three systems were tested: steering, braking, and throttle.
By the end of MSD I, the end goal of profiling the APM is to profile all systems that will be used to achieve the goal of wandering, which include the LiDAR sensors, as well as cameras used for computer vision, and the system chosen to perform curb detection. Certain systems have yet to be profiled as they have either not been acquired or decided upon (i.e. curb detection), or are not in their final mounted positions on the APM (i.e. camera, VLD-16 LiDAR). These measurements will be combined into a multi-image 2-D visualization, or possibly a 3-D representation, to illustrate what the capabilities of the APM should be and where any dead zones are with the design in terms of the mounting and sensing abilities of each component.
The current measurements and limitations acquired and assessed for the APM steering, braking, and throttle systems are as follows:
- Maximum steering angle (31 degrees)
- Minimum turning radius (inside = 7ft 9in, outside = 11ft 9in)
- How quickly can the steering wheel be electronically turned to maximum steering angle (0.55 sec, 0.66 sec, 0.45 sec, 0.66 sec, 0.59 sec)
- How quickly can the brake be electronically depressed (1.0 sec, 0.96 sec, 0.89 sec, 0.92 sec, 1.1 sec)
- How fast does the cart break from maximum autonomous speed (1.5 sec, 1.7 sec, 1.4 sec, 1.3 sec, 1.7 sec)
- What distance does the cart require to break from maximum autonomous speed (32 inches, 30 inches, 35 inches, 31 inches, 32 inches)
- How quickly does the cart accelerate to maximum autonomous speed (1.67 sec, 1.62 sec, 1.70 sec, 1.66 sec, 1.6 sec)
The current running APM Profiling document can be found here: APM Profiling Checklist
Component Pugh ChartsBased on measurements acquired from profiling the APM, as well as the need for systems to detect curbs and determine safe versus unsafe paths of travel, pugh charts were created to weigh different options for said systems.
The Curb Detection Sensor Pugh Chart document can be found here: Curb Detection Sensor Pugh Chart
The Camera Sensor Pugh Chart document can be found here: Camera Sensor Pugh Chart
System Architecture Diagrams
All Google Draw.io files for each architecture diagram can be found here: Architecture Diagram Documents
The current Risk Assessment document can be found here: Architecture Diagram Documents
Plans for next phase
- As a team, where do you want to be in three weeks at your next review?
- As an individual on the team, what are you doing to help your team achieve these goals? (Use the individual 3-week plan template for this)