Embedded Motion Control 2019 Group 8: Difference between revisions

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== Group Members ==
== Group Members ==


{| class="wikitable"
{| class="wikitable"
! Names:
! Names:
! Student id:
! Student id:
|-
|-
| Stan den Hartog
| Stan den Hartog
| 0953184
| 0953184
|-
|-
| Elise Verhees
| Elise Verhees
| 0950109
| 0950109
|-
|-
| Rob Dorussen
| Rob Dorussen
| 0968849
| 0968849
|-
|-
| Gosse Bijlenga
| Gosse Bijlenga
| 0950642
| 0950642
|-
|-
| Max van Haren
| Max van Haren
| 0953564
| 0953564
|}
|}
 
== Design ==
 
= Requirements =
# Autonomously exit the room within 5 minutes in two trials.
# Must not bump into the wall.
# Must not tip over.
# Make sensible movements/progress each 30 seconds.
# Software must be easy to set up.
# Robot must function robustly.
 
= Specifications =
* Rear wheel must be over the finish line.
* Distance between the wall and the robot must be 0,05 meter.
* The maximum translational speed is 0,5 meter per second, the maximum rotational speed is 1.2 radians per second.
* The robot must have a maximum speed/stop before changing direction.
* The maximum inclination angle is around 5 degrees.
* The software must have 1 command to update, compile (cmake/make) and start executing.
* The status must be reported at least each 30 seconds.
* The functions must be scalable.
* Switch states only to advance the strategy plan.
 
= Functions =
* Detect if the robot is over the finish line
* Drive forward (keeping the speed specifications in mind)
* Rotate
* Collision detection
* (Update World Model)
* Print status
* Scan environment for exit
* State function/ Life Cycle State Machine (LCSM)
* Wall hugging
 
 
= Components =
# Room
## Walls
## Finish line
## Exit tunnel
## (Obstacles)
# Robot
## Actuators
## Sensors
## Body
## Hardware
# Software
## World Model
## Interfaces
## Plan
## Actuator control
## Monitoring
## Preception
## Mediation
## Life Cycle State Machine (LCSM)

Revision as of 14:13, 5 May 2019

Group Members

Names: Student id:
Stan den Hartog 0953184
Elise Verhees 0950109
Rob Dorussen 0968849
Gosse Bijlenga 0950642
Max van Haren 0953564

Design

Requirements

  1. Autonomously exit the room within 5 minutes in two trials.
  2. Must not bump into the wall.
  3. Must not tip over.
  4. Make sensible movements/progress each 30 seconds.
  5. Software must be easy to set up.
  6. Robot must function robustly.

Specifications

  • Rear wheel must be over the finish line.
  • Distance between the wall and the robot must be 0,05 meter.
  • The maximum translational speed is 0,5 meter per second, the maximum rotational speed is 1.2 radians per second.
  • The robot must have a maximum speed/stop before changing direction.
  • The maximum inclination angle is around 5 degrees.
  • The software must have 1 command to update, compile (cmake/make) and start executing.
  • The status must be reported at least each 30 seconds.
  • The functions must be scalable.
  • Switch states only to advance the strategy plan.

Functions

  • Detect if the robot is over the finish line
  • Drive forward (keeping the speed specifications in mind)
  • Rotate
  • Collision detection
  • (Update World Model)
  • Print status
  • Scan environment for exit
  • State function/ Life Cycle State Machine (LCSM)
  • Wall hugging


Components

  1. Room
    1. Walls
    2. Finish line
    3. Exit tunnel
    4. (Obstacles)
  2. Robot
    1. Actuators
    2. Sensors
    3. Body
    4. Hardware
  3. Software
    1. World Model
    2. Interfaces
    3. Plan
    4. Actuator control
    5. Monitoring
    6. Preception
    7. Mediation
    8. Life Cycle State Machine (LCSM)
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