Banat

Banat

Banat University / ROMANIA

More...
Beteigeuze

Beteigeuze

Karlsruhe Institute of Technology / GERMANY

More...
Bullseye

Bullseye

Wageningen University / NETHERLANDS

More...
Cornstar

Cornstar

University of Maribor / SLOVENIA

More...
DTUni-Corn

DTUni-Corn

Technical University of Denmark / DENMARK

More...
Eduro

Eduro

Czech University of Life Sciences / CZECH REPUBLIC

More...
FireAnt

FireAnt

Czech University of Life Sciences / CZECH REPUBLIC

More...
Florence

Florence

Harper Adams University / UNITED KINGDOM

More...
Floribot

Floribot

Heilbronn University / GERMANY

More...
Fontynator

Fontynator

Fontys Venlo / NETHERLANDS

More...
GroundBreaker

GroundBreaker

Aalto Uni. & Uni. of Helsinki / FINLAND

More...
Helios

Helios

TU Braunschweig / GERMANY

More...
MEC

MEC

TU Kaiserslautern / GERMANY

More...
Pars

Pars

Gaziosmanpa┼ča University / TURKEY

More...
Smarttrike

Smarttrike

Wageningen University / NETHERLANDS

More...
Thalos

Thalos

University Hohenheim / GERMANY

More...
The Great Cornholio

The Great Cornholio

Uni. of Applied Science Osnabrueck / GERMANY

More...
Zephyr

Zephyr

University of Siegen / GERMANY

More...
Frontpage Slideshow | Copyright © 2006-2014 JoomlaWorks Ltd.

image13

General information

Team name:

Zephyr

Institution: University of Siegen
Department: Institute of Real-Time Learning Systems
Contact: This email address is being protected from spambots. You need JavaScript enabled to view it., This email address is being protected from spambots. You need JavaScript enabled to view it.

Team details

Mentors: Klaus Müller, Jan Kunze, Prof. Dr.-Ing. Klaus-Dieter Kuhnert
Members: Charan Ram Akupati, Felix Graf, Yuwei Guo, Sven Höhn, Jan-Marco Hütwohl, Thomas Köther, Götz Poenar, Jan-Friedrich Schlemper, Saeid Sedighi, Wangyi Zhu
   

Robot – basic information

Web page: http://www.eti.uni-siegen.de/ezls/

Dimensions:

(W × L × H)

40 x 65 x 50 cm
Weight: 15 kg
Num. of wheels: 4 Turning radius: 75 cm
Rain resistance: splash water protected    

Robot – mechanical details

Drive concept: Four wheel drive
Steering: Both axis are steerable
Special characteristics:  

Robot – electrical details

Powered by: 4 cell LiFePo battery (20 Ah)
Motors: 2x Vector K4 brushless motors
Controller: 2x LPR Truck Puller
Sensors: Camera: X Compass: X
  Ultrasonic: X Gyroscope: X
  Infrared:   Accelerometer: X
  Laser: X Mechanical:  
  Other: Kinect V2
Communication: TCP/IP

Robot – Software

Operating system: Ubuntu Linux 
Programed in: C / C++ and Python
Tools: Robot Operating System (ROS), OpenCV, Point Cloud Library (PCL)
Other:  

Robot – Strategy

1st task: The main idea behind this task is the usage of the laser scanner to find the middle of the actual row and later to find the entrance to the row in which the robot wants to turn.
2nd task: In Task 2 the laser range data is used to build a 2D grid from the field. The grid is then divided into several clusters and the algorithm tries to detect the clusters that are most likely the left and right plant rows. To drive backward the Zephyr uses the sonar sensor to estimate the way through the row.
3rd task: The Kinect is used to detect the dried up plants. The raw image gets filtered by color and by distance to the sensor, to avoid ground detection.
Free style: No strategy yet.

Robot – Investment

Work hours: Countless
Components: 7000 €
Other:  
Sponsored by: -

Problems / Challenges

Countless

Other

The Zephyr robot is a complete new model that was designed from scratch. The experience and knowledge the team gathered in recent years help us to improve the old platform and fix lots of well known problems. One of the main improvements is the smaller turning radius that makes our robot more flexible in the field.