College

College of Engineering and Polymer Science

Date of Last Revision

2021-04-27 08:24:45

Major

Computer Engineering

Honors Course

Design Project Seminar - Computer Engineering (1.0), Senior Design I (3.0), Senior Design II (3.0)

Number of Credits

7

Degree Name

Bachelor of Science

Date of Expected Graduation

Spring 2021

Abstract

The objective of the locomotion system was to design and implement the mechanical, electrical, and software related functions to ensure the LLAGV had the capability of maneuvering its surroundings. The LLAGV’s motors were represented in an open loop transfer function to utilize RPM feedback and a compensator when needed. The modeled compensator helped control the LLAGV’s speed and acceleration, enabling further control of the LLAGV. The internal circuitry has the means to properly distributed power to all components and allowed the user to control the LLAGV to their desire. The application software within the LLAGV locomotion system (LLAGV-LS) had consideration for distance and angle variation, provided by the navigation system (NS) team where this information was pulled from an in-memory database. Changing the angle and distance, from the user, was done using motor control theory and application. The data along with feedback from the system provided a reliable and predictable means of driving the LLAGV’s traction control system as well as incorporating input from the user and delivering a source of feedback to the user, ultimately creating a cohesive, intuitive interface for the user to take advantage of the convenience the LLAGV offered. The LLAGV also had basic object detection features in which the NS informs the LS Team B would inform Team A of an object in front of the LLAGV. The LLAGV then conducts the actions necessary to avoid the object. Key features are as included below.

  • LLAGV maintains a distance of 3 to 10 feet with an average of 3 ft/sec
  • LED lights dictate the state of charge and state and direction intent
  • LLAGV lasts for a minimum of two hours at a full charge
  • LLAGV carries a light load of up to 30 pounds

Research Sponsor

Mr. Greg Lewis

First Reader

Dr. Hamid R Bahrami

Second Reader

Dr. Nghi Tran

Honors Faculty Advisor

Dr. Nghi Tran

Comments

This design team consisted of 2 smaller sub teams. Author field was updated to reflect the locomotion sub team only.

WHC_Final_Signature_Page_Radtka.docx (162 kB)
Final Signature Page

Share

COinS
 
 

To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.