Jessi

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Revision as of 18:39, 30 June 2019 by Cloyd6 (talk | contribs) (Jessii)
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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

Jessi Electrical Overview


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
  • 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 Design & 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