Critical Design Review

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Critical Design Review
obotic
olutions
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Executive SummaryProduct Overview

• It is an autonomous robotic system.
• Designed for home, business and school use.
• Able to perform many simple tasks.
• Easily upgradeable and user customizable.
• Simple computer core.
• Linux operating system.

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Executive SummaryTeam Organization

• Hardware Specialists
• Team Leader - Bryan Boothe
• Research and Development - Joshua Bergum
• Software Specialists
• Software Development - Dan Gallacher
• Information Technology - Richard Gray

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Specifications

• Body
• 3.6 feet tall, 1 foot wide and 2 feet long
• Will have two arms 35 inches in length when
  extended
• Arms will have 6 degrees of freedom
• Wrist will spin 360 degrees and move up and down
  90 degrees
• The elbow will bend approx 180 degrees
• The shoulder will move forward and backward 45
  degrees, up and down 45 degrees
• The arm will use 4.5 amps _at_ 12 V
• Will be able to lift 3 pounds
• Drive System
• Will be two wheel rear drive
• Two separate drive motors
• The motors will run on 12V at 1 Amp

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Specifications

• Steering System
• Will use two in the front wheels to steer
• Stepper motor at central point to turn both
  wheels
• Stepper motor will use 12V _at_ 1 Amp
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• Processing Unit
• Pentium Motherboard
• 133 MHz processor
• 32 Megs of Ram
• 2 Gig IDE Hard Drive
• 2 custom input/output cards
• 96 data lines each
• Built by our team
• Consists of 4 8255 PPI chips and 2 74ls138
  decoders
• Will fit in ISA bus slot
• 1 meg video card for development purposes

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Specifications

• Sensors
• CMUcam for target acquisition and tracking
• Process data on its own board
• 2 Sharp GP2D12 Infrared Rangers to determine
  distances
• Senses objects from 4 to 30 inches away
• Bumper sensors around body in case of contact
  with objects
• Infrared sensors on hands for targeting
• Sensor on the steering system to tell how much
  wheels have turned
• Sensors on all arm joints to tell what position
  arms are in
• Pressure sensors in hands so objects are not
  crushed
• Operating System
• Will be Redhat Linux distribution
• Power System
• Two 12V DC 33Amp-hour batteries can be replaced
• Charging circuit runs off 110V AC (standard
  household receptacle)
• 5V and 12V regulating power circuits

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UML
UML
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Testability

• Many devices need to be tested for proper
  operation.
• I/O Card
• Controls the majority of all input/output.
• Wires must be properly labeled.
• Necessary for the software to interface correctly
  with all devices
• Input/Output Sensors
• Control Motors
• Test for speed and torque.

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Testability Chart
 
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Risk Mitigation

• Risks
• Arm design is insufficient
• Looking at various designs
• Constructing test models to find best design and
  a functioning design
• Hardware risk, not likely to happen
• Programming not completed in time
• Starting with main functions first for small
  demonstration then working on more complex tasks
• Software risk, could possibly happen
• Power system Insufficient
• Look at using different battery types
• Look at different Voltage regulators
• Input/Output card is not fast enough to control
  robot
• Redesign card using faster components
• Hardware risk, not likely to happen.

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