Vehicle Team

1
Vehicle Team

• Members
• Zhipu Jin
• Domitilla Del Vecchio
• Bao Nguyen (UCLA)
• David Tung (UCLA)
• Chung Hsieh (UCLA)
• Alex Sutherland
• Jeremy Malaize
• Rajiv Ghanta

2
GOTChA Chart of Vehicle Team
Goals
Technical Challenges
1. Build, improve, document and maintain three
types of reliable vehicles. 2. Develop high
performance on-board SW.
1. MVWT II does not all have similar physical
parameters, ie friction, weight distribution. 2.
No experience running RhexLib on Linux. 3.
The onboard computation ability limits of
Bats. 4. Porting Kelly software structure to Bats.
Objectives
1. Common software architecture that supports
code reuse between heterogeneous MVWT
vehicles. 2. Revise low level hardware drivers.
Long-time (as long as OS alive) reliable
running and easy to reset. 3. High
performance inner loop local controllers
(Formulate the performance w.r.t. Freq. response
30 Hz, and steady state errors lt5, for all
vehicles). 4. UDP network interface to
positioning system, C2, and other
user-specific applications.
Approach
1. Study the system ID and write user manuals. 2.
Study RhexLib and the software structure of
Kellys. 3. Design different complexity level
on-board SW (limit the functions) for
different vehicles. 4. Set up tools (forms
on wiki) to manage lab. 5. Use wiki and bugzilla
to track bugs. 6. Work with other teams on
interface design.
3
Vehicle Status Chart
4
Status Chart of Vehicle Team
RG, CH, BN, ZJ
RG, CH, ZJ
ZJ, DD
Maintenance (manual, wiki)
Mounting
HW Drivers
K
B
SB
K
B
SB
K
B
SB
Interface
HW structure
Positioning
ZJ
RG, AS, BN, ZJ
Kellys
C2
ZJ
Onboard SW structure
Bats
SBs
Other Apps.
CH, BN, DT
Kellys
JM, DD
JM, CH, RG
Controller Design
ZJ Zhipu Jin CH Chung Hsieh BN Bao
Nguyen RG Rajiv Ghanta JM Jeremy Malaize AS
Alex Sutherland
Sys. ID (Bats)
Bats
SBs
5
Three different types of vehicles in MVWT
SteeleBots
Bats
Kellys
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System Architecture

• Low-level hardware
• On-board software
• Inner-loop controller
• Rooftop positioning
• Trajectory generation

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Vehicle Architecture
Vision System
VEHICLE
Computation Unit
802.11b
Position Module
Simulator
Quit Module
Rooftop System
QNX Or Linux
Onboard Sensors (gyro etc.)
RHexLib Module Manager
DESKTOP
Controller Shell
RHex Comm
Onboard chip
USB/Serial
RHex Comm
Controller
802.11b
Data Logger
Motors
Rooftop Module
Reference
Trajectory Software (NTG etc.)
802.11b
802.11b
(Other vehicles)
Rooftop System
C2
App.
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Design of Bats

• Current Bat Design
• Compact design
• Low weight
• Easy to build

• Issues with current design
• Weight imbalance
• Excessive friction/low lift force
• Especially when load is not balance, will tip to
  one side
• Inability to run on rooftop Berber Max mats.

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Design of Bats

• Proposed bat design

• Changes made
• Central fan
• Weight distribution
• Greater lift force
• Air flow dynamics

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Comparison
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Controller Design

• Talk to Jeremy

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Plan for rest of Summer

• Finish Bat redesign
• Measure the new physical parameters for Bats
• Port controller software from Kellys to Bats
• Complete interfacing with rooftop positioning,
  trajectory generation, roboflag, and any other
  applications.
• Documentation for software, hardware and user
  manual.