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electronics.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<title>
Electronics
</title>
<link rel="apple-touch-icon" sizes="180x180" href="favicon_io/apple-touch-icon.png">
<link rel="icon" type="image/png" sizes="32x32" href="favicon_io/favicon-32x32.png">
<link rel="icon" type="image/png" sizes="16x16" href="favicon_io/favicon-16x16.png">
<link rel="manifest" href="favicon_io/site.webmanifest">
<link rel="stylesheet" href="css/bootstrap.min.css">
<link rel="stylesheet" type="text/css" media="screen" href="electronics.css">
<link rel="stylesheet" type="text/css" media="screen" href="index.css">
</head>
<body>
<!----------------------------------------->
<!--navbar-->
<a name="top"></a>
<nav class="navbar navbar-expand-md navbar-light" style="background-color: rgb(220,220,220);">
<a href ="https://drishti-svnit.github.io/drishti/" class="navbar-brand">
<img src="images/drishti_3.png" class="svnit_photo" style="padding-top: 0; padding-bottom: 0;">
</a>
<button type="button" class="navbar-toggler" data-toggle="collapse" data-target="#menu">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse h" id="menu">
<ul class="navbar-nav ml-auto">
<!-------------------------------------------------------------------------------->
<!--DROPDOWN-->
<li class="nav-item"style="font-weight: bold;"><a href="index.html" class="nav-link">Home</a></li>
<li class="nav-item dropdown "style="font-weight: bold;">
<a href="#" class="nav-link dropdown-toogle" data-toggle="dropdown">Subsystem</a>
<div class="dropdown-menu"style="background-color: rgb(220,220,220);">
<a href="electronics.html" class="dropdown-item">
ELECTRONICS AND SOFTWARE
</a>
<a href="mechanical.html" class="dropdown-item">
MECHANICAL SUBSYSTEM
</a>
<a href="bioscience.html" class="dropdown-item">
BIOSCIENCE
</a>
</div>
</li>
<!-- <li class="nav-item"style="font-weight: bold;"><a href="file:///C:/Users/Lenovo/Desktop/rover_site/WEBSITE/team.html" class="nav-link">Team</a></li>-->
<!-------------------------------------------------------------------------------->
<!--DROPDOWN-->
<li class="nav-item dropdown"style="font-weight: bold;">
<a href="gallery.html" class="nav-link">Gallery</a>
</li>
<li class="nav-item"style="font-weight: bold;"><a href="https://docs.google.com/document/d/1h-xd_8QDOgz58PQw7iZVhm_-3nVZVRTl69o0Dmo1EVg/edit" class="nav-link">Documentation</a></li>
<li class="nav-item"style="font-weight: bold;"><a href="index.html#down" class="nav-link">Contact</a>
</li>
</ul>
</div>
</nav>
<!------------------------------------------------------------->
<!--CONTENT-->
<div style="background-image: url(background1.jpg); background-size: cover;background-color: rgba(255,255,255,0.7); background-blend-mode: lighten;">
<div class="con">
<div class="row">
<div class="col-12 text-center" style=" font-family: Arial, Helvetica, sans-serif; font-size: 40px; font-weight: bold;">
ELECTRONICS AND SOFTWARE
</div>
</div>
<br><br>
<div class="row">
<div class="col-lg-2 col-sm-6" style="text-align: center;">
<img src="images/actuation.jpg">
<br>
<a href="#actuator"><h6 style="padding-top: 10px;padding-bottom: 20px;">ACTUATION</h6></a>
</div>
<div class="col-lg-2 col-sm-6" style="text-align: center;">
<img src="images/autonomous.jpg">
<br>
<a href="#autonomous"><h6 style="padding-top: 10px;padding-bottom: 20px;">AUTONOMOUS</h6></a>
</div>
<div class="col-lg-2 col-sm-6" style="text-align: center;">
<img src="images/wifi.jpg">
<br>
<a href="#wifi"><h6 style="padding-top: 10px;padding-bottom: 20px;">COMMUNICATION</h6></a>
</div>
<div class="col-lg-2 col-sm-6" style="text-align: center;">
<img src="images/ip.jpg">
<br>
<a href="#ip"><h6 style="padding-top: 10px;padding-bottom: 20px;">Image Processing</h6></a>
</div>
<div class="col-lg-2 col-sm-6" style="text-align: center;">
<img src="images/gui.jpg">
<br>
<a href="#gui"><h6 style="padding-top: 10px;padding-bottom: 20px;">GUI and Video Streaming</h6></a>
</div>
<div class="col-lg-2 col-sm-6" style="text-align: center;">
<img src="images/power.jpg">
<br>
<a href="#power"><h6 style="padding-top: 10px;">Power Distribution and Circuits</h6></a>
</div>
<!------------------------------------------------------------------------------------------------------------>
</div>
<div class="row">
<div class="col-lg-8 col-md-12"style="padding-top: 50px;" id="actuator">
<h3 style="text-align: center;">
ACTUATION
</h3>
<ul style="padding-top: 20px;text-align: justify;font-size: 18px; font-weight:500;">
<li>All the motors are controlled by Arduino-Mega Microncontroller receiving commands from R-pi serially.</li>
<li> The driving motors are controlled by Cytron motor drivers while the manipulator motor
is handled by Hercules motor drivers. </li>
<li>High Torque and Low RPM DC Planetary Gear Motors are used for driving the rover.</li>
</ul>
</div>
<div class="col-lg-4 col-md-12 text-center"style="padding-top: 40px;">
<img class="img-fluid " src="solar/actuation.jpg" alt="actuation">
</div>
</div>
<!-------------------------------------------------------->
<!--AUTONOMOUS-->
<div class="row" style="padding-top: 20px;">
<div class="col-lg-4 col-md-12 order-lg-1 order-2 text-center" style="padding-top: 80px;">
<img class="img-fluid" alt="autonomous" src="solar/kalman_filter.jpg">
</div>
<div class="col-lg-8 col-md-12 order-lg-2 order-1" style="padding-top: 80px;" id="autonomous">
<h3 style="text-align: center;">
AUTONOMOUS
</h3>
<ul style="padding-top: 20px;text-align: justify; font-size: 18px;font-weight:500;">
<li>The GPS goal following, obstacle avoidance and ball detection works in synchronization to accomplish the autonomous task. </li>
<li>The data from GPS module and Inertial Measurement Unit (IMU) are combined using the Kalman Filter for better localization of the rover in the local ‘Map’ frame. </li>
<li>A PID control system is implemented for efficient and smooth traversal of rover to its designated GPS goal location. </li>
<li>The ultrasonic sensors are mounted on the rover for detecting and avoiding massive obstacle in rover’s traversal path </li>
</ul>
</div>
</div>
<!---------------------------------------------------------------->
<!--COMMUNICATION-->
<div class="row" style="padding-top: 10px;">
<div class="col-lg-8 col-md-12"style="padding-top: 60px;" id="wifi">
<h3 style="text-align: center;">
COMMUNICATION
</h3>
<ul style="padding-top: 20px; text-align: justify;font-size: 18px;font-weight:500;">
<li>We are using 13 dBi 5 GHz directional antenna (IEEE 802.11a/n) for communication.</li>
<li>All other devices like laptop, Raspberry Pi and Jetson nano are connected to Antenna via wifi and create a star topology.
Antenna provide a uniqe local IP to all connected devices..</li>
<li>Intercommunication of devices is accomplished by within various ROS nodes which are assigned in a MASTER - SLAVE configuration.</li>
</ul>
</div>
<div class="col-lg-4 col-md-12 text-center"style="padding-top: 10px;">
<img class="img-fluid " src="solar/communication.jpg" alt="communication" style="padding-top: 50px;">
</div>
</div>
<!----------------------------------------------------->
<!--IMAGE PROCESSING-->
<div class="row">
<div class="col-lg-4 col-md-12 order-lg-1 order-2 text-center" >
<img class="img-fluid " src="solar/ip.jpg" alt="ip" style="padding-top:80px;">
</div>
<div class="col-lg-8 col-md-12 order-lg-2 order-1" style="padding-top: 70px;" id="ip">
<h3 style="text-align: center;">
IMAGE PROCESSING
</h3>
<ul style="padding-top: 20px;text-align: justify;font-size: 18px;font-weight:500;">
<li>For object detection and image processing OpenCV and TensorFlow library integrated on Python script is used. </li>
<li>Arrow and ball detection are achieved by training a model using Keras as the main program interface.</li>
<li>The Rover aligns itself according to the arrow orientation in order to keep the detected class at the centre of the frame and moves till a distance of less than 2 meters from that
object is reached which is calculated by the increasing pixel size of the bounding box. </li>
</ul>
</div>
</div>
<!-------------------------------------------------->
<!--GUI-->
<div class="row">
<div class="col-lg-8 col-md-12"style="padding-top: 100px;">
<h3 style="text-align: center;" id="gui">
VIDEO STREAMING AND GUI
</h3>
<ul style="padding-top: 20px;text-align: justify;font-size: 18px;font-weight:500;">
<li>Video streaming is achieved using three Web cameras that are mounted on the Rover. These cam collectively provide a 360° view of the field for effective navigation purpose.</li>
<li>Video streaming is done over 5Ghz band. </li>
<li>A Web server is created using the MJPG-4 streamer of Raspberry-Pi for video transmission at base station.</li>
<li>These feed is visualised at base station by Web GUI. </li>
</ul>
</div>
<div class="col-lg-4 col-md-12 text-center"style="padding-top: 80px;">
<img class="img-fluid" src="solar/gui1.jpg" alt="GUI">
</div>
</div>
<!-------------------------------------------------->
<!--CIRCUIT-->
<div class="row">
<div class="col-lg-4 col-md-12 order-lg-1 order-2 text-center" style="padding-top: 60px;">
<img class="img-fluid " src="solar/circuit.jpg" alt="circuit">
</div>
<div class="col-lg-8 col-md-12 order-lg-2 order-1" style="padding-top: 100px;" id="power">
<h3 style="text-align: center;">
POWER DISTRIBUTION AND CIRCUITS
</h3>
<ul style="padding-top: 20px;text-align: justify;font-size: 18px;font-weight:500;">
<li>The Rover is supplied with two - 12V and 16V Lipo battery. </li>
<li>For regulated DC supply, DC-DC buck convertor is used. Apart from that, supply to processor is given by 10,000 and 20,000 mAh power bank.</li>
<li>Protection of DC components is ensured from reverse polarity using PMOS and Diode.</li>
</ul>
</div>
</div>
<br>
<br>
<div style="text-align: center;font-size: 20px; font-weight: bold;">
<a href="#top">
<button type="button" class="btn btn-info btn-lg" style="font-size: 18px; font-weight: bold; ">BACK TO TOP</button></a>
</div>
</div>
</div>
<script src="js/jquery.min.js"></script>
<script src="js/bootstrap.min.js"></script>
</body>
</html>