Undergraduate Capstone Projects on Multi-Robot Systems: Undergraduate Capstone Projects on Multi-Robot Systems Authored by: Dr. Christopher Kitts
Associate Professor
Director, Robotic Systems Laboratory
Director, Silicon Valley Center for Robotic Exploration & Space Technologies
Presented by: Mr. Mike Rasay
Doctoral Candidate, Robotic Systems Laboratory
Outline: Outline Introduction
Undergraduate Projects
Formation Flying Aircraft
Cooperative Rover Navigation
Cooperative Object Transport
Academic Framework
Summary & Conclusions
Robotic Systems Laboratory: Lab: 1 faculty, 3 staff, ~10 grad students, ~35 undergrad students
External funding: ~$750,000/yr from gov, industry, academia
Space: ~2,000 ft2 on campus,~7,500 ft2 facility at NASA Ames
Expertise: system design, controls, teleoperation, automation, etc.
Current Field Robotics
Robotic Systems Laboratory --------------------------Land – Sea – Air – Space------------------------------- --Field Operation for Real-World Missions-- --------------- Real Mission Data Products--------------- ----------- Sponsors & Partners------------
Gov: NSF, NASA, USAF, NOAA,USGS…
Ind: Lockheed, CSA, Mitsubishi, BMW…
Univ: Stanford, Wash U, UT Austin…
Non-Profit: CSGC, MBARI, IEEE, MTS… - Applications-
Geology
Biology
Land Mngmnt
Remote Sensing
Archeology
Multi-Robot Systems - Introduction: Land: Rovers for Transport Sea: ROVs for Filming
Air: Planes for Imaging Space: Satellite Formation Test Multi-Robot Systems - Introduction Selected RSL multi-robot projects
Project 1 – Formation Flying Aircraft: Project 1 – Formation Flying Aircraft 3-student 2005 project
Added sensors, pan/tilt camera, digital and video comms, microcontrollers, and commercial autopilot to RC aircraft
Developed “follow-the-leader” formation flying, auto take-off and landing
Approved for UAV flight in FAA Class D airspace
3rd in AUVSI International Graduate UAV Contest
Project 2 – Coordinated Rover Navigation: 5-student 2005 project
Added sensors, digital comm, & microcontrollers to commercial chasses
Integrated Matlab controllers and demonstrated “cluster control” navigation
3 of these students used system for grad thesis work; 1 PhD and 3 Masters theses in progress using this system
Basis of new NSF project in multi-robot navigation Project 2 – Coordinated Rover Navigation
Project 3 – Coordinated Object Transportation: Project 3 – Coordinated Object Transportation 4 student 2004 project and 5 student 2005 project
Team1: Developed 2 velocity-controlled omnidriven chasses
Team 2: Developed gripper stages and controller for object transport with no transmission of forces/torques
Overhead vision system has been added for tracking
System has supported 4 Masters theses and a PhD project is about to begin
Student Learning: Student Learning Learning outcomes
Interdisciplinary design: teams include mech, elec, comp engineers
Full-lifecycle exposure: students involved from design through field operation
Tools: students learn modern design and analysis tools to support projects
Techniques: students practice project man., systems eng., concurrent design
Themes for success:
Real-world missions
New technology development with potential for research
Pro-active oversight and mentoring
Challenges:
Faculty attention on undergrad projects (detracting from other duties)
Resources for supporting such a program
How do we integrate our program to address these challenges?
Academic Framework – Field Robotics: Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation
Academic Framework – Field Robotics: Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team-Based, and Hands-on Mission Science & Services Impact
Academic Framework – Field Robotics: Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team-Based, and Hands-on Mission Science & Services Impact - Integrative research & education
- Undergraduate research
- Stimulation of grad school interest
- Industry/gov/academic collaborations
Academic Framework – Field Robotics: Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team-Based, and Hands-on Funding Opportunities Mission Science & Services Impact - Integrative research & education
- Undergraduate research
- Stimulation of grad school interest
- Industry/gov/academic collaborations Infrastructure for Courses & Future Missions
Summary & Conclusions: Summary & Conclusions SCU field robotics program
Robotic systems built for land, sea, air, and space missions
Cradle to grave design and operation of systems
Numerous collaborators/sponsors from industry, academia, government
Undergraduate Capstone Projects in Multi-Robot Systems
Formation aircraft, cooperative rover navigation, cooperative object transport
Each a remarkable achievement for an undergraduate team
Academic Framework
Exciting opportunities enabling undergraduate educational excellence
To attract and justify investment in these projects, they are leveraged such that:the resulting robotic systems are used:
As research testbeds for graduate research
As primary field systems for real-world science and technology missions