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drexel_duct_navigator [2016/11/01 10:38] – created dwallacedrexel_duct_navigator [2016/11/07 19:29] (current) – dwallace
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 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.  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 01: Assemble “test track” and test drive “E-Maxx” wall-following algorithm
  
 Week 02: Create web page to document progress 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 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 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 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) 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 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 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 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: Week 10:
--          Post tutorial E: “LIDAR on E-Maxx for SLAM”+  * Post tutorial E: “LIDAR on E-Maxx for SLAM”
drexel_duct_navigator.txt · Last modified: 2016/11/07 19:29 by dwallace