Customer Handoff & Final Project Documentation
Table of Contents
Team Vision for Final Demo and HandoffSummarize: In the final phase of MSDII, the ASAR team focused on testing all subsystems together on the physical terrain. This included all subsystems talking to each other from the capture of the image of the terrain through the movement of the robot across it. We were able to do an adequate amount of testing and get the system functioning together but there were unpredicted complications while demoing at the fieldhouse.
Test Results Summary
Summarize test results The test results show the engineering requirements that were set along with which ones were successful and which were not.
Inputs & Source
- The final test plan is shown here Final Test Strategy
- The system integration went well until the demo at the fieldhouse. The wireless protocol that we were using was on 2.4GHz and so is the wifi so when there were thousands of people present, our system was unable to communicate directions to the robot correctly.
Outputs & Destination
- The system was usable and data could be run through the entire pipeline of the applications during testing on the MSD floor. During demonstration at Imagine RIT however there was too much interference to properly send data between the Raspberry Pi and the Robot.
- Network routing problems made the Raspberry Pi unable to server the web server from the Pi. Additionally, the WiFi connection to the Pi was also affected by interference in the field house during Imagine.
- Pictures could be taken, transformed, analyzed for tiles and robot orientations, and serialized into a data structure.
- The search algorithm found multiple ways through the terrain and generated directions for the robot.
- Directions were then transmitted over UART to a ZigBee radio module.
- The robot could be given directions and execute them within reasonable error on distance and turn angle.
Risk and Problem TrackingRisk Management.
Final Project DocumentationTechnical Paper:Technical Paper Poster:Final Poster for Imagine
- CAD/Schematics pcb schematics
- Final BOM Bill of Materials
- Software Source Code
- Recommendations for future work
For future iterations of this project, 3D objects in the terrain would be more realistic. This would require the use of more than 1 camera. The areal camera would be more realistically suited for a drone flying over real terrain. From a communications standpoint, plan ahead for other traffic on the frequency band being used.
Plans for Wrap-up
- Hand off simulation materials, hardware, and software to Professor Indovina.
- Fill in missing documentation.
- Come up with future plans for successive entries of the project.