logging in or signing up 2007 01 20 gyre Aric85 Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 52 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: December 31, 2007 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Gyre 2: Evaluation of Control Techniques for Autonomous Free-Floating Robots: Gyre 2: Evaluation of Control Techniques for Autonomous Free-Floating Robots January 20, 2007 Seattle Robotics Society D. Bliss, A. Lacenski, M. DockreyGoals: Goals Followup to GYRE 1, which established the best image processing algorithm, but did not demonstrate closed-loop control Evaluated four control algorithms: naïve hysteresis, proportional, PI, and PID Tested aboard NASA’s new C-9 microgravity aircraft in August 2006. History: History Formed in 2001 Accepted in 2002, postponed flight due to hardware and documentation issues GYRE 1 accepted and flew in 2003 Not accepted in 2004 Accepted in 2005, but program postponed due to aircraft issues Flew in 2006 DONE! About the GYRE platform: About the GYRE platform 50lbs, 14” cube (NASA requirements) Free floats within aircraft 3 onboard computers National Instruments FieldPoint interface 12 cold gas thrusters using air 3 orthogonal cameras Lithium-polymer batteries Onboard Computers: Onboard Computers Comell Taiwan LV-671M single-board computers, mini-ITX Intel Pentium-M 1.6, ~2 GIPS, 128MB RAM, 1GB CompactFlash Cardbus Firewire interface for high-speed video Mini-PCI 802.11b with external antennas Onboard 100mbps Ethernet Serial interface to NI FieldPointNational Instruments FieldPoint: National Instruments FieldPoint A general-purpose industrial interface system One network module, up to 64 I/O modules Using FP-PG-522 pulse generator modules Allows all hard realtime to be done in FieldPoint, no need for realtime OS on SBCsCold Gas Thruster System: Cold Gas Thruster System Two 1.8L tanks at 4500 psi Regulators on each tank reduce to 200 psi (100 psi for 2006 flights) Low-side air manifolded and distributed to twelve high-speed control valves with attached custom CNC-machined thrusters Minimum thrust bit 30 msec, about 0.06 N-S Continuous thrust about 2N Onboard Cameras: Onboard Cameras Firewire TI chipset 640x480x30fps Custom CNC-machined enclosures Image recognition, feature extraction, motion vector extraction, and compensation done by onboard SBCs, one per camera Lithium-Polymer Batteries: Lithium-Polymer Batteries The first rule of LiPo batteries: DON’T USE LIPO BATTERIES 28V, ~3AH, ~45m runtime Horror stories But, great power density!Onboard operation: Onboard operation Control laptop Canon GL2 video camera for data collection Two operatorsResults: ResultsQuestions?: Questions? David Bliss dbliss@u.washington.edu http://depts.washington.edu/gyre You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
2007 01 20 gyre Aric85 Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 52 Category: Entertainment License: All Rights Reserved Like it (0) Dislike it (0) Added: December 31, 2007 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Gyre 2: Evaluation of Control Techniques for Autonomous Free-Floating Robots: Gyre 2: Evaluation of Control Techniques for Autonomous Free-Floating Robots January 20, 2007 Seattle Robotics Society D. Bliss, A. Lacenski, M. DockreyGoals: Goals Followup to GYRE 1, which established the best image processing algorithm, but did not demonstrate closed-loop control Evaluated four control algorithms: naïve hysteresis, proportional, PI, and PID Tested aboard NASA’s new C-9 microgravity aircraft in August 2006. History: History Formed in 2001 Accepted in 2002, postponed flight due to hardware and documentation issues GYRE 1 accepted and flew in 2003 Not accepted in 2004 Accepted in 2005, but program postponed due to aircraft issues Flew in 2006 DONE! About the GYRE platform: About the GYRE platform 50lbs, 14” cube (NASA requirements) Free floats within aircraft 3 onboard computers National Instruments FieldPoint interface 12 cold gas thrusters using air 3 orthogonal cameras Lithium-polymer batteries Onboard Computers: Onboard Computers Comell Taiwan LV-671M single-board computers, mini-ITX Intel Pentium-M 1.6, ~2 GIPS, 128MB RAM, 1GB CompactFlash Cardbus Firewire interface for high-speed video Mini-PCI 802.11b with external antennas Onboard 100mbps Ethernet Serial interface to NI FieldPointNational Instruments FieldPoint: National Instruments FieldPoint A general-purpose industrial interface system One network module, up to 64 I/O modules Using FP-PG-522 pulse generator modules Allows all hard realtime to be done in FieldPoint, no need for realtime OS on SBCsCold Gas Thruster System: Cold Gas Thruster System Two 1.8L tanks at 4500 psi Regulators on each tank reduce to 200 psi (100 psi for 2006 flights) Low-side air manifolded and distributed to twelve high-speed control valves with attached custom CNC-machined thrusters Minimum thrust bit 30 msec, about 0.06 N-S Continuous thrust about 2N Onboard Cameras: Onboard Cameras Firewire TI chipset 640x480x30fps Custom CNC-machined enclosures Image recognition, feature extraction, motion vector extraction, and compensation done by onboard SBCs, one per camera Lithium-Polymer Batteries: Lithium-Polymer Batteries The first rule of LiPo batteries: DON’T USE LIPO BATTERIES 28V, ~3AH, ~45m runtime Horror stories But, great power density!Onboard operation: Onboard operation Control laptop Canon GL2 video camera for data collection Two operatorsResults: ResultsQuestions?: Questions? David Bliss dbliss@u.washington.edu http://depts.washington.edu/gyre