MULTI-SENSOR ROBOTICS PLATFORM
Team 14 :Jonathan Pham, Pritesh Solanki, Po-Han Wu,
Josh Schulte, Joseph Nguyen
BackgroundDesign Requirement
Proposed DesignBlock Diagram
I/O SpecificationCriteria
Design Requirements Design a system using multiple
sensors that interface to a TI microprocessor.
Use a Mobile Robot Platform Implement One Game & One Task Utilize Open Source Software
Proposed Design Multi Sensor System:
Microsoft Kinect Processor: Beagle
Board Mobile Robot: Roomba Game: Laser Tag Task: Intruder
Detection Open Source Software:
Microsoft SDK, TIesr (Speech
Recognition)
Multi Sensor System: Microsoft Kinect Processor: Beagle Board Mobile Robot: Roomba Game: N/A Task: Intruder Detection Open Source Software:
Open Kinect, Player TIesr (Speech Recognition)
Modified Design
System Design – Block Diagram
Beagle Board
Kinect
Voice
Video Infrared
Infrared
Roomba
Subsystem Criteria Object Recognition
• Detect object of size 3 cm by 3 cm.• At Distance of 5 feet
Movement• Moving at full speed: 250 mm/sec without hitting any
object. Speech Recognition:
• Identify the key command 80% Aim and shoot:
• Detect target within 1 meter• Within 5 sec aim at object location and shoot.• Accuracy 90%
Best Design Solution Chosen robotics platform: The
Roomba– Smooth mobility; easy to navigate
– Low-cost– UT lab provides
programming capability
– Provides stability for kinect (unlike robosapiens)
Best Design Solution Chosen sensor array: Kinect– Integrated with all
desired sensors– Unrivaled
performance– No integrated
microprocessor– Low-cost solution– Many open-source
software implementations (MSFT)
Best Design Solution Chosen microcontroller: Beagle Board
– Powered by TI OMAP3530 ARM processor
– Low-powered– Low-cost– 720MHz ARM Cortex-
A8 Core– 256 MB LPDDR RAM
memory– Contains many
desired peripherals
Intruder Detection Using Player, beagleboard will control
the movement of the roomba. Using Open Kinect, kinect will capture
video, and beagleboard will process for intruder detection.
If detected, beagleboard will stop movement and sound the alarm.