13 : Omni-Directional RobotMid-term Presentation

Ben WolfBrent CorneliusEd CramerJohn GrabnerJames Grabner

Advisor & Client:Dr. Nicola Elia

October 6, 2011

Conceptual Diagram

Project Goal

• Repair/clean up existing robot platform• Finish unimplemented features

– OS on Flash Card, reduced boot time– I/O board and IMU– BPAM(battery protection and monitoring)– Adapter Board(to pass through pin header for I/O

board cable and help clean up chassis)

• Document robot design and operation

Current Progress

• OS - basic functions complete, experimenting with compressed file systems

• BPAM - Layout complete, parts ordered• Adapter board - removed offset connector

and replace with ribbon cable• I/O board - Purchased and tested for

compatibility

BPAM Layout

I/O Board Cable Test

• The PCM-MIO-G is tolerant of ‘irregular’ wiring

• Reduces complexity and cost of the adapter board

What we need to do• OS

– Add SquashFS to the kernel, compress root partition– Integrate I/O board with the sensor management interface

• BPAM– Program microcontroller– Make PCB and install components

• Adapter Board– Make PCB layout– Make PCB and install components

• IMU– Purchase new IMU, mount to chassis, evaluate performance

• Tests & Documentation

Success Criteria

• OS• BPAM• Adapter board• Chasis Optimization• IMU• I/O

Success Criteria

• Major components will be completed• Detailed analysis of results may suffer• Issues

– Large learning curve for project– Documentation for previous robots is sparse– Difficult to test robot performance without

reliable wheels– Legacy requirements negatively affect new

designs

Questions

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