DASL Wiki

This page is read only. You can view the source, but not change it. Ask your administrator if you think this is wrong.
====== Ventilation Ducting Navigator ======

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 =====

**[[drexel_duct_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. 

  * [[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.  

  * [[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.

  * [[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.

  * [[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

  * [[drexel_duct_navigator_lidar|LIDAR on E-Maxx for SLAM]]

===== Updates =====

**8/11/13:** [[drexel_duct_navigator_odometry|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.

**8/5/13:** 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.

**9/1/13:**  [[drexel_duct_navigator_lidar|LIDAR on E-Maxx for SLAM]]  posted

===== 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 “test track” build plans, part/vendor/price (so others can re-create your test track)
  * 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 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
  * 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”
  * 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 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”

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
  * Calibrate E-maxx location (e.g. center-of-mass, front bumper, etc)
  * 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)

Week 10:
  * Post tutorial E: “LIDAR on E-Maxx for SLAM”