Differences

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--- drexel_duct_navigator [2016/11/01 10:38] – created dwallace
+++ drexel_duct_navigator [2016/11/07 19:29] (current) – dwallace
@@ Line 3: / Line 3: @@
 The ducting navigator project is an independent study project by Kristopher Krasnosky to design an autonomous vehicle to traverse ducting in naval vessels and map radiation levels along the way.
+===== Tutorials and progress =====
-== Tutorials and progress ==
+**[[drexel_duct_navigator_log|Ventilation Ducting Navigator Log]]**
-'''[[Ventilation Ducting Navigator Log]]'''
+  * [[drexel_duct_navigator_duct_setup|Ductwork assembly]]
+In order to test the vehicle the a test track was constructed.  Below is a link describing the process involved in constructing the ductwork test track.
-[[Ductwork assembly]]:  In order to test the vehicle the a test track was constructed.  Below is a link describing the process involved in constructing the ductwork test track.
+  * [[drexel_duct_navigator_gui|GUI for tele-operating an E-Maxx for Remote Surveillance using Arduino and Cocoa Development]]
+This tutorial is designed to explain how to remotely operate an Arduino board by creating a Mac application to send commands over a UDP connection and reading and interpreting the commands on an Arduino board.
-[[GUI for tele-operating an E-Maxx for Remote Surveillance using Arduino and Cocoa Development]]:  This tutorial is designed to explain how to remotely operate an Arduino board by creating a Mac application to send commands over a UDP connection and reading and interpreting the commands on an Arduino board.
+  * [[drexel_duct_navigator_geiger|Building a geiger counter]]
+To examine the workings of a geiger counter and build a prototype for testing a geiger counter was needed.
-[[Building a geiger counter]]:  To examine the workings of a geiger counter and build a prototype for testing a geiger counter was needed.
+  * [[drexel_duct_navigator_teleop|Using a tele-operating E-Maxx to remotely read radiation readings]]
+A tutorial that demonstrates how to integrate a geiger counter into the Ducting Navigator and its GUI.
-[[Using a tele-operating E-Maxx to remotely read radiation readings]]:  A tutorial that demonstrates how to integrate a geiger counter into the Ducting Navigator and its GUI.
+  * [[drexel_duct_navigator_odometry|Measuring odometry with an optical mouse]]
+The aim of this project was to accurately measure odometry using a standard optical mouse and an IMU
-[[Measuring_odometry_with_an_optical_mouse]] The aim of this project was to accurately measure odometry using a standard optical mouse and an IMU
+  * [[drexel_duct_navigator_lidar|LIDAR on E-Maxx for SLAM]]
-[[LIDAR on E-Maxx for SLAM]]
+===== Updates =====
-== Updates ==
+**8/11/13:** [[drexel_duct_navigator_odometry|Measuring_odometry_with_an_optical_mouse ]] page has been added
-'''8/11/13:''' [[Measuring_odometry_with_an_optical_mouse ]] page has been added
+**8/6/13:** [[drexel_duct_navigator_log|Ventilation Ducting Navigator Log]] has been created to keep a log of activity and data.
-'''8/6/13:''' [[Ventilation Ducting Navigator Log]] has been created to keep a log of activity and data.
+**8/5/13:** The scratch built Geiger counter has been completed.  [[drexel_duct_navigator_geiger|Building a geiger counter]]  has been updated with results and modifications to the circuit.
-'''8/5/13:''' The scratch built Geiger counter has been completed.  [[Building a geiger counter]]  has been updated with results and modifications to the circuit.
+**9/1/13:**  [[drexel_duct_navigator_lidar|LIDAR on E-Maxx for SLAM]]  posted
-'''9/1/13:'''  [[LIDAR on E-Maxx for SLAM]]  posted
+===== Syllabus =====
-== Syllabus ==
 Week 01: Assemble “test track” and test drive “E-Maxx” wall-following algorithm
 Week 02: Create web page to document progress
--          Post videos of Week 01 work
+  * Post videos of Week 01 work
--          Post “test track” build plans, part/vendor/price (so others can re-create your test track)
+  * Post “test track” build plans, part/vendor/price (so others can re-create your test track)
--          Begin installing IR camera system on E-Maxx
+  * Begin installing IR camera system on E-Maxx
 Week 03:  Capture IR images from camera mounted on E-Maxx
--          Post videos of IR images on web page
+  * Post videos of IR images on web page
--          Post vision system part/vendor/price (so others can re-create similar image acquisition)
+  * Post vision system part/vendor/price (so others can re-create similar image acquisition)
--          Construct laptop/desktop based GUI for controlling E-Maxx, monitoring E-Maxx position, and displaying IR images
+  * Construct laptop/desktop based GUI for controlling E-Maxx, monitoring E-Maxx position, and displaying IR images
--          Post tutorial A: “GUI for tele-operating an E-Maxx for Remote Surveillance”
+  * Post tutorial A: “GUI for tele-operating an E-Maxx for Remote Surveillance”
 Week 05 (but start in Week 04): Complete Geiger Counter construction and testing
--          Post tutorial B: “How to make your own Geiger Counter”
+  * Post tutorial B: “How to make your own Geiger Counter”
--          Compare results of your home-made Geiger Counter with a commercial one
+  * Compare results of your home-made Geiger Counter with a commercial one
 Week 06: Mount Geiger Counter on E-Maxx and wirelessly transmit readings to GUI
-- Demonstrate E-Maxx autonomously following wall (which you did in Week 01)
+  * Demonstrate E-Maxx autonomously following wall (which you did in Week 01)
-- Demonstrate tele-operation i.e. operator can take-over control and drive/steer the vehicle
+  * Demonstrate tele-operation i.e. operator can take-over control and drive/steer the vehicle
 Operator can only see/use GUI (e.g. keyboard up/down/left/right keys or Joystick and monitor or goggles)
 to drive E-Maxx to remotely read/transmit radiation readings
--          Post tutorial C: “Using a tele-operating E-Maxx to remotely read radiation readings”
+  * Post tutorial C: “Using a tele-operating E-Maxx to remotely read radiation readings”
 Week 07: Measure odometry on E-Maxx
--          Implement odometry approach e.g. mount encoders on axles, mount encoders on wall-contact arm, or use IMU with Kalman filtering
+  * Implement odometry approach e.g. mount encoders on axles, mount encoders on wall-contact arm, or use IMU with Kalman filtering
--          Calibrate E-maxx location (e.g. center-of-mass, front bumper, etc)
+  * Calibrate E-maxx location (e.g. center-of-mass, front bumper, etc)
--          Test odometry measurements with and without wheel slip
+  * Test odometry measurements with and without wheel slip
 Week 08: Mount LIDAR on E-Maxx
--          Build map using LIDAR/odometry on E-Maxx (use SLAM)
+  * Build map using LIDAR/odometry on E-Maxx (use SLAM)
 Week 10:
--          Post tutorial E: “LIDAR on E-Maxx for SLAM”
+  * Post tutorial E: “LIDAR on E-Maxx for SLAM”