Jessi
| Jessi | |
|---|---|
| Year Of Creation | 2017-2018 |
| Versions | |
| Latest Revision | Jessii |
| Revision Years | 2018-2019 |
| Information and Statistics | |
| Farthest Distance | 16 ft |
| Fastest Time | n/a |
| Highest Finish AutoNav | n/a |
| Highest Finish Design | 1st |
| ← Woodi | |
Competitions
IGVC 2018
- Results
- Distance: 5 ft
- Design Competition Placement: 2nd
- AutoNav Competition Placement:
IGVC 2019
- Results
- Distance: 16 ft
- Design Competition Placement: 1st
- AutoNav Competition Placement:
Versions
Jessi
At Competition
Mechanical Design & Improvements
Electrical Design & Improvements
Software Design & Improvements
Jessii
At Competition
Though the team was well-prepared going into 2019 IGVC, several issues came up during competition. On the first day, the mbed was experiencing issues and causing the computer to brownout. The mbed was fried while attempts were being made to fix the problem. Eventually this was solved with a new mbed and a large capacitor, which prevented brownouts from happening, though the whole process of fixing the robot took up the first day of the competition. During the second day, major progress was made; the team was 4th to qualify, which was the earliest Georgia Tech has ever qualified in IGVC. Additionally, the robot had a few successful runs on the course. Most notably, the great backwards run tragedy of 2019 happened. During this run, the robot turned itself around and went BACKWARDS on the course, though it went extremely far. This ended up being (absolute-value) the second longest run achieved by any robot in the competition this year, though it didn't count towards our score since it was backwards.
Mechanical Design & Improvements
We tried to make Jessii a more modular and accessible version of Jessi.
Electrical Design & Improvements
For Jessii, the electrical team focused on iterating on several components of Jessi's system to improve weaknesses seen at the prior competition.
- Custom Computer and Improved Sensors
- To improve computational capabilities and performance we upgraded our computer and other sensors
- Intel i7-8700K 3.7GHz 6 Core Processor, Nvidia GTX 1060 GPU, 32GB RAM
- GPU was chosen for CUDA support
- Hotswap capability was brought using a PCB though not implemented before competition
- Velodyne Puck VLP-16 3D LiDAR
- YostLabs 3-Space Micro USB IMU
- Intel i7-8700K 3.7GHz 6 Core Processor, Nvidia GTX 1060 GPU, 32GB RAM
- To improve computational capabilities and performance we upgraded our computer and other sensors
- E-Stop
- E-Stop circuitry was consolidated onto E-Stop PCB
- Relay was used instead of a transistor used in version 1.0
- Ethernet Communication Protocol
- The logic board, the custom PCB which handles motor control switched from a virtual serial interface from MBed to a custom Ethernet communication protocol for robustness
Software Issues & Improvements
We faced a few issues this year:
- Robustness of line detection
- We moved from a pretrained FCN8 to a U-net architecture that didn't have pretraining. As a result, on the final day, our neural net had a decent amount of false negatives.
- Computational efficiency of global path planning
- We used the Field D* for global path planning. However, it wasn't computationally efficient, and failed to find a path in a reasonable amount of time at the beginning of the run, when it saw lines that extended a fair distance in front.
- Because we were seeing lines in front and not behind us and the first waypoint was located to the side of the starting location, the global path planner planned a path that went behind us, leading to the famous reverse run.
Additional Information
Team Members
Gallery
Jessi in real life
Jessi team before going to comp
Jessi team testing during comp
Barrel king.
Jessi team giving design presentation
Tomas sleeping on the grass
Jessi team with the robot
Jessi team with the robot
Woodi shoutout on Jessi
Jessi team with the 2nd place design award
Jessii CAD
Jessii before going to competition
Jessii team on day 1 of comp
Jessii after qualifying
Jessii team after qualifying
Zipties used to gain traction
Jessii testing during comp at night
Jessii design 1st place certificate
1st place design plaque
Jessii grand prize 3rd place certificate
Jessii team on a Ford tour
Jessii team giving design presentation
