LTU H 2 Bot Team Members: David Bruder, John Girard, Mark Henke, Marcus Randolph, Brace Stout, Jacob Paul Bushon, Tim Helsper, MaryGrace-Soleil B. Janas,

LTU H2BotTeam 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

LTU H2Bot

Presentation Outline

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

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

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

Key Hardware Features

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

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

Power Distribution Box

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

System Battery Module

Fuel Cell Module

Power Distribution Box

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

Software Architecture

Sensors Path Planning

World Map

Sensor Fusion

Path Execution

Calibration

Motor Controller

H2BotSoftware Architecture

Warning Indicators

JAUS Receiver

Vision Processing

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

Background Region

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

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: > 30% grade LMS Range: 8.1m