LTU H 2 Bot Team Members David Bruder

LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, Mary. Grace-Soleil B. Janas, Danielle E. Johnson, Nathaniel Johnson, Dave Daraskavich, Bill Gale, Brett Richardson

LTU H 2 Bot

Presentation Outline n Team Structure and Design Approach n Design Features n Mechanical Design n Electrical Design n Software Design n Performance

Team Structure & Design Approach Multi-Disciplined: CS, ME, EE, CE n Explore multiple designs (sets) early n Compare and Mockup n Design sub-teams with collaborative integration n Portable software development on 2005 vehicle n

Key Hardware Features Dual Power – Fuel Cell, Battery Modules n PCB Power distribution n Fail-safe Brakes & HW Speed Limit n Brushed DC Motors / Planetary Gear Sets n Robust Extruded Aluminum Frame n JAUS Wireless Interface n LMS, Camera, Compass, DGPS n

Power Modules – Fuel Cell n n n 1. 2 k. W Ballard Hydrogen PEM Fuel Cell Hydrogen Leak Detection Self-regulating Microprocessor control PV Charge Controller regulates System Voltage (24 V) DC-DC converter feed 12 V bus 8 hour run time per tank

Power Modules - Battery n n n Interchangeable with Fuel Cell Module 40 Ah X 24 V Battery configuration DC-DC Converter supplies 12 V bus Built-in Automatic Charger 5 hour run time

Power Distribution Box Fuel Cell Module n n n 2 -layer PCB 12 V & 24 V buses Regulated 24 V supply e. Stop Motor Power Relay Sensor Power Switches Inexpensive Connector Battery Module System Power Distribution Box

Software Concept Sun Java and Eclipse IDE n Object-Oriented, Portable, and Scalable n Independent threads for communication, signal processing for each device n Fault-tolerant, watchdog concept for all devices n Data time-stamping n

Software Architecture H 2 Bot Software Architecture Sensors Sensor Fusion World Map Path Planning Path Execution Calibration Warning Indicators JAUS Receiver Motor Controller

Vision Processing n n n Pixel Classification Teaching Image Manual Enhancement HUV Color Cube Avoid Non. Background Region

Sensor Fusion Virtual Grid World Frame n Image Pixels projected to Ground Plane n LMS Data Overlayed with Video n Compass tracks Vehicle Orientation in Grid Frame n GPS and Dead-Reckoning track position in Grid Frame n

Performance Gradability: minimum 2. 5” curb n Max Speed: 4. 2 mph n Power Consumption: 50 -150 W n Range: Fuel Cell 8 hrs, Battery 5 hrs n Failsafe Brake Capacity: > 30% grade n LMS Range: 8. 1 m n