logging in or signing up Mechatronic Design of an unmanned Ground Vehicle . navyasagar Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINT lite 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: 176 Category: Science & Tech.. License: All Rights Reserved Like it (1) Dislike it (0) Added: April 01, 2011 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... By: navyasagar (8 month(s) ago) thank you . Saving..... Post Reply Close Saving..... Edit Comment Close By: liberated_camel (10 month(s) ago) great presentation. Saving..... Post Reply Close Saving..... Edit Comment Close Premium member Presentation Transcript UnMANNED GROUND VEHICLE (MECHATROnic design for military application): UnMANNED GROUND VEHICLE ( MECHATROnic design for military application) By : Shiva sagar & Narendra .UNMANNED GROUND VEHICLE (UGV): UNMANNED GROUND VEHICLE (UGV) Finnish Defense Forces introduced the UGV for the first time . It is a combination of Complex Computer Systems and Mechatronics Design . Targeted, task-oriented autonomous mission capability, that means UGV is able to cope with the predefined tasks as autonomously as possible. And Requiring operator command .What is UGV ?: What is UGV ? The term Unmanned Ground Vehicle or UGV only defines that the operator controlling the vehicle, if one exists, is not on the vehicle itself. It is a complex systems engineering and mechatronics design. Ex :Mercedes Benz became a significant advance in UGV technology(Schmidhuber, 2005) they drove over 1000 km on the highways .A Sample Model of an UGV .: A Sample Model of an UGV .Design Considerations: Design Considerations Locomotion System Energy System Positioning System Sensor System Navigation System Motion Control System & Communication SystemFlowchart of Mechanism : Flowchart of MechanismRemote Control Station & HMI: Remote Control Station & HMI Consists of a Laptop Computer running controlling the steering wheel, Pedals & Radio equipment. Human Machine Interaction(HMI) was notable Part of it . Instead another laptop is added for Payload control . Transfer of control between human operator & computer is studied under autonomous mode .IMPLEMENTATION: IMPLEMENTATION Hardware Implementation Software System ImplementationHardware Implementation: Hardware Implementation Drive-By-Wire capability is related with electric actuators . Actuators can be detached from while driving it manually . Gear lever & incremental encoder (2 switches) are linearly actuated to steering wheel . The position of gear lever can be calculated from encoder pulses . Steering wheel is actuated to brushed D.C. motor .Hardware Implementation: Hardware ImplementationSlide 11: Motor is attached to steering wheel with toothed belt and Belt-pulley arrangement . Toothed Belt is removed and can be drived as normal vehicle . On Public roads actuators can be driven to upper most Position & can be powered down immediately . Actuators are equipped with potentiometers that tell their absolute position . Motors are equipped with limit switches controlling the range of moment.Hardware Implementation Factors: Hardware Implementation Factors Sensors Electricity Computers Driving computer Image Processing computer SafetyVEHICLE SOFTWARE ARCHITECTURE: VEHICLE SOFTWARE ARCHITECTURE Driving Computer Software : QNX NUTRINO RTOS 6.3 Image Processing Computer Software : Windows XP . (Including LASER Scanner Data)Vehicle Control Flowchart : Vehicle Control FlowchartDriving Computer : Driving Computer It is based on Processes, Threads, Signals & Shared memory. ACTIVATOR Process creates shared memory and monitors a state . If the Activator doesn’t get a signal from any of the process in a specified time, it shuts down the software in a safe and controlled way. The OPERCOMM Process handles communication between vehicle and remote control station .Software of Driving Computer: Software of Driving ComputerImage Processing Computer : Image Processing Computer It acts as a server to receive and send data through a network . The image taken is compressed and sent to the control station using UDP Packets . Compression Ratio of the images can be controlled at control stations It also process the data from the Laser scanner which can be sent to Driving computer.Remote Control Stations : Remote Control Stations It can be controlled from a single laptop computer . Another laptop can be utilized for separate payload control. The separate C4I System specially demonstrated and can be uploaded through a LAN (Local Area Network)A View From Remote Control Station: A View From Remote Control StationMap view & Driving view: Map view & Driving viewConclusion: Conclusion The test tasks were related to tactical reconnaissance and surveillance . The UGV was able to cope with the predefined tasks largely autonomously, requiring operator support only with demanding decision making unmanned driving capability of the vehicle was achieved. It was noticed that a fairly good quality video image is needed for the teleoperationSlide 22: A model environment is seen by using sensors and detects Radio active metals . Therefore, Every Nation should develop this type of UGV’s inorder to know the information of required area without loss of life . These UGV’s also beneficial in many ways . As “Necessity is the mother of Invention and Protection is the cry of future .“Thank You.: Thank You. You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
Mechatronic Design of an unmanned Ground Vehicle . navyasagar Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINT lite 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: 176 Category: Science & Tech.. License: All Rights Reserved Like it (1) Dislike it (0) Added: April 01, 2011 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... By: navyasagar (8 month(s) ago) thank you . Saving..... Post Reply Close Saving..... Edit Comment Close By: liberated_camel (10 month(s) ago) great presentation. Saving..... Post Reply Close Saving..... Edit Comment Close Premium member Presentation Transcript UnMANNED GROUND VEHICLE (MECHATROnic design for military application): UnMANNED GROUND VEHICLE ( MECHATROnic design for military application) By : Shiva sagar & Narendra .UNMANNED GROUND VEHICLE (UGV): UNMANNED GROUND VEHICLE (UGV) Finnish Defense Forces introduced the UGV for the first time . It is a combination of Complex Computer Systems and Mechatronics Design . Targeted, task-oriented autonomous mission capability, that means UGV is able to cope with the predefined tasks as autonomously as possible. And Requiring operator command .What is UGV ?: What is UGV ? The term Unmanned Ground Vehicle or UGV only defines that the operator controlling the vehicle, if one exists, is not on the vehicle itself. It is a complex systems engineering and mechatronics design. Ex :Mercedes Benz became a significant advance in UGV technology(Schmidhuber, 2005) they drove over 1000 km on the highways .A Sample Model of an UGV .: A Sample Model of an UGV .Design Considerations: Design Considerations Locomotion System Energy System Positioning System Sensor System Navigation System Motion Control System & Communication SystemFlowchart of Mechanism : Flowchart of MechanismRemote Control Station & HMI: Remote Control Station & HMI Consists of a Laptop Computer running controlling the steering wheel, Pedals & Radio equipment. Human Machine Interaction(HMI) was notable Part of it . Instead another laptop is added for Payload control . Transfer of control between human operator & computer is studied under autonomous mode .IMPLEMENTATION: IMPLEMENTATION Hardware Implementation Software System ImplementationHardware Implementation: Hardware Implementation Drive-By-Wire capability is related with electric actuators . Actuators can be detached from while driving it manually . Gear lever & incremental encoder (2 switches) are linearly actuated to steering wheel . The position of gear lever can be calculated from encoder pulses . Steering wheel is actuated to brushed D.C. motor .Hardware Implementation: Hardware ImplementationSlide 11: Motor is attached to steering wheel with toothed belt and Belt-pulley arrangement . Toothed Belt is removed and can be drived as normal vehicle . On Public roads actuators can be driven to upper most Position & can be powered down immediately . Actuators are equipped with potentiometers that tell their absolute position . Motors are equipped with limit switches controlling the range of moment.Hardware Implementation Factors: Hardware Implementation Factors Sensors Electricity Computers Driving computer Image Processing computer SafetyVEHICLE SOFTWARE ARCHITECTURE: VEHICLE SOFTWARE ARCHITECTURE Driving Computer Software : QNX NUTRINO RTOS 6.3 Image Processing Computer Software : Windows XP . (Including LASER Scanner Data)Vehicle Control Flowchart : Vehicle Control FlowchartDriving Computer : Driving Computer It is based on Processes, Threads, Signals & Shared memory. ACTIVATOR Process creates shared memory and monitors a state . If the Activator doesn’t get a signal from any of the process in a specified time, it shuts down the software in a safe and controlled way. The OPERCOMM Process handles communication between vehicle and remote control station .Software of Driving Computer: Software of Driving ComputerImage Processing Computer : Image Processing Computer It acts as a server to receive and send data through a network . The image taken is compressed and sent to the control station using UDP Packets . Compression Ratio of the images can be controlled at control stations It also process the data from the Laser scanner which can be sent to Driving computer.Remote Control Stations : Remote Control Stations It can be controlled from a single laptop computer . Another laptop can be utilized for separate payload control. The separate C4I System specially demonstrated and can be uploaded through a LAN (Local Area Network)A View From Remote Control Station: A View From Remote Control StationMap view & Driving view: Map view & Driving viewConclusion: Conclusion The test tasks were related to tactical reconnaissance and surveillance . The UGV was able to cope with the predefined tasks largely autonomously, requiring operator support only with demanding decision making unmanned driving capability of the vehicle was achieved. It was noticed that a fairly good quality video image is needed for the teleoperationSlide 22: A model environment is seen by using sensors and detects Radio active metals . Therefore, Every Nation should develop this type of UGV’s inorder to know the information of required area without loss of life . These UGV’s also beneficial in many ways . As “Necessity is the mother of Invention and Protection is the cry of future .“Thank You.: Thank You.