LTU H2Bot

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• LTU H2Bot

Team Members David Bruder, John Girard, Mark
Henke, Marcus Randolph, Brace Stout, Jacob Paul
Bushon, Tim Helsper, MaryGrace-Soleil B. Janas,
Danielle E. Johnson, Nathaniel Johnson, Dave
Daraskavich, Bill Gale, Brett Richardson
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LTU H2Bot
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Presentation Outline

• Team Structure and Design Approach
• Design Features
• Mechanical Design
• Electrical Design
• Software Design
• Performance

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Team Structure Design Approach

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

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Key Hardware Features

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

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Power Modules Fuel Cell

• 1.2kW Ballard Hydrogen PEM Fuel Cell
• Hydrogen Leak Detection
• Self-regulating Microprocessor control
• PV Charge Controller regulates System Voltage
  (24V)
• DC-DC converter feed 12V bus
• 8 hour run time per tank

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Power Modules - Battery

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

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Power Distribution Box
Fuel Cell Module

• 2-layer PCB
• 12V 24V buses
• Regulated 24V supply
• eStop Motor Power Relay
• Sensor Power Switches
• Inexpensive Connector System

Power Distribution Box
Battery Module
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Software Concept

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

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Software Architecture
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Vision Processing

• Pixel Classification
• Teaching Image
• Manual Enhancement
• HUV Color Cube
• Avoid Non-Background Region

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Sensor Fusion

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

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Performance

• Gradability minimum 2.5 curb
• Max Speed 4.2 mph
• Power Consumption 50-150W
• Range Fuel Cell 8 hrs, Battery 5 hrs
• Failsafe Brake Capacity gt 30 grade
• LMS Range 8.1m