Summit Research Repository (Simon Fraser University)

Schmidt, Tayler

English

Hungry for justice: Bobby Sands, the 1981 hunger strikers, and Gerry Adams

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The impact of social media exposure on eyewitness identification

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Learning with search-based guidance for Partially Observable Multi-Agent Path Finding via Potential-Based Reward Shaping

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Spilling the \u27tea\u27 on the grocery sector: Situating the epistemological and ontological precarities of grocery work in Metro Vancouver during the global pandemic

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Women\u27s pleasures, women\u27s pains: Oxytocin, orgasm, and endometriosis

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Detection and characterization of discontinuous motion on Thompson Glacier, Canadian High Arctic, using speckle tracking and ice-flow modeling

Hardern, Erica

Partnered FlowArts and the cultivation of empathy in primary-aged children

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Accessing ability: Mental-health-promoting communities of online learning

Engineering Science undergraduates are required to complete a group-based, two-course capstone sequence: ENSC 405W and ENSC 440. Groups form company structures and create an innovative product that potentially acts as a solution to a real-life problem.This collection archives the following assignments: proposal, design specifications, requirements specifications, and final presentatio

Hogg, Davis

Srdic, Alek

Lavin, Mark

Kim, Michael

Yang, Martin

DAM3Technologie

NaviBot
DAM3 Technologies
Presentation Overview
● Introduction
● Technical Case
● Business Case
● Risk Analysis/Management
● Adherence to Standards
● Self-Reflection
● Conclusion
● References
2
Introduction - Team Members
3
CEO - Davis Hogg
Systems Eng. - Systems/UI
CIO - Mark Lavin
Systems Eng. - Navigation/Back-End
CHO - Alek Srdić
Systems Eng. - Mechanical 
COO - Michael Kim
Electronics Eng. - Electronics/Power
CCO/CFO - Martin Yang
Electronics Eng. - Communications
CTO - Roy Zhong
Electronics Eng. - Electronics/Power
Introduction - Background
● Over 86,000 workplace injuries caused by heavy lifting
● Increasing package intake requires more manpower
● Distractions arise from delivering packages in-house
● Waiting times increase as the package handler gets overwhelmed
4
Introduction - Purpose
● Ease the burden of mundane tasks in the workplace
● Eliminate human hours needed to travel between points
● Reduce workplace injury from transporting heavy goods
5
Introduction - Motivation
● To reduce the workplace injury
● Ease burden of mundane tasks
● Expensive delivery robots in current market
○ Enter market with lower prices
○ More warehouses can afford it
6
Technical Case - System Design
7
● System control: RPi4B -> Jetson Nano
○ 32-core -> 128-core Maxwell GPU
○ Micro HDMI -> HDMI 2.0
● Navigation: Python & C++
● User Interface: Python -> KivyMD
○ Enable ROS
Technical Case - Mechanical Design
8
● Frame
○ Mild Steel Tubing 
○ Space frame design
Technical Case - Mechanical Design
9
● Load Platform
○ Aluminum Plate
● Side Cover
○ Rubber Garden Edging
● Cradle-to-Cradle
○ Mostly Recyclable Materials
Technical Case - Mechanical Design
10
● 24V DC Motor x2
● Drive wheels x2
● Gearbox x2
● Belt tensioning system
Goal: Design and fabrication as close to final product as possible
Technical Case - Hardware Design
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● 360 degree detection Lidar
○ Mapping
● Ultrasonic sensors
○ 2 at front, 1 at all other sides
● Motor Driver x2
○ Drive 24V DC Motors
● ADC
○ Battery Monitoring
Technical Case - Hardware Design
12
● 7 inch Touch screen
○ User Interface
● Battery & Charger
○ 12V Lead acid -> 24V LiFePO4
○ 24V LiFePO4 5A charger
● Speaker & Emergency stop button
○ Warning, Emergency
Technical Case - Software Design
13
● UI
○ User screen
○ Edit/Delete/Send locations
Technical Case - Software Design
14
Technical Case - Software Design
15
● UI
○ Initialization protocol
○ Battery monitoring
○ Interactive sounds
Technical Case - Software Design
16
● Navigation - Stage 1
○ ROS
○ Driving
○ Laser Odometry
○ GAZEBO Simulator
○ Lidar Gmapping
○ Localizing
Technical Case - Software Design
17
● Navigation - Stage 2
○ Trajectory Planning 
■ AMCL
■ Cost Map
○ Collision Detection
■ Lidar
■ Ultrasonic
Technical Case - Estimated Schedule
18
Technical Case - Actual Schedule
19
Business Case - Market
20
● Market Share
● Market Barriers
○ Financial worth
○ Lack of clarity
○ Potential disruption
Business Case - Ideal Customer
21
Average Company Logistics Costs 2016 - 2020
● Companies requiring additional 
internal logistics capabilities
● Target companies with 
established logistics budget
● Market NaviBot as an addition to
 existing logistical infrastructure
Business Case - Competitors
22
● OTTO Motors ($15,000 - $25,000)
● Locus Robotics ($35,000)
● Relay Robotics($2000 per month)
● NaviBot is easy to set up by the user
Business Case - Sales Strategy
23
● Self-distribution
○ Promote through online and 
exhibition avenues
○ Direct contact to clientele
○ Acquire early adopters
○ Associated advertisement cost
Business Case - Budget
24
Business Case - Price
Retail price: $12,500
Unit manufacturing costs: $1240
Labour and shipping: ~$600
Profit: ~$10,660
Break-even point = $563000 / $10660 = 53 units/year
25
Business Case - Company Growth
● Require ~5 months before production
● First few years will be to gain traction 
in the market
● Aim to be profitable within 5 years
26
Risk Analysis/Management
27
Risk Analysis/Management
28
● Robot Lost / Stuck During Navigation
○ Auto recalibration, Homebase return
● System Overheating
○ Heatsink, Ventilation, Cooling fan
● Exposed Charging Outlet
○ Removable, Lockable, Mechanical covers
Risk Analysis/Management
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● Robot Loses Control
○ Emergency stop button switch
○ 0.5s Motor timeout
● Failed Obstacle Detection
○ More sensors, Optimal placement
● Linux Desktop Accessible to User
○ Remove admin permission and lock settings
Risk Analysis/Management - Plan B
30
● Power consumption monitor
○ INA3221 voltage monitor burned while testing
■ Plan B(used) -> ADS1115 ADC converter
● Navigation mapping
○ G-mapping detection
■ Plan B(unused) -> Hector slam (need wheel encoder)
Risk Analysis/Management - Commercial Plan B
31
● Lower retail price
○ Coupons, Promotion code
● Cooperation with other companies
○ Bundle sales
● Change target customer
○ Nurse Assistance - Carry food, pills, etc.
Adherence to Standards
32
● Battery and charging system - General Requirements for battery-power 
appliances battery chargers
● Drive Mechanism - Adjustable Speed Electrical Drive System
● Robot Navigation - IEEE Standard for Robot Map Data Representation for 
Navigation
● User Interface - Design and development of information for users
Adherence to Standards
33
● Battery and Charger
○ Warning labels, secure connections, overvoltage and current protection
○ Protection from abnormal use, proper insulation, chassis ground, SAE 
charging connector
● Drive Mechanism
○ No direct contact during operation
○ Properly secured components
Adherence to Standards
34
● Robot Map Data Representation for Navigation
○ Standards for a 2D map in autonomous delivery
○ Global map with coordinate references implemented
● Design of information for users
○ Process of building an API
○ Formatting, layout, and interface
Self Reflection
35
● Feedback from the course
○ Collision-safe robot siding
○ Fuses for overcurrent protection
● What would we do differently?
○ Improve project management
○ More in depth battery research, selection and testing
Self Reflection
36
● What our team learned
○ Action rather than discussion
■ Led to delays in testing
○ Don’t take shortcuts
■ Fast +Easy = Headache
Conclusion
37
● What team members learned
○ Time management
○ Communication and documentation
○ Relative hardware & software skills
Conclusion
38
● Future Plan for NaviBot
○ Nice looking cover
○ Better battery 
■ Sensitive overcurrent, low battery life(30mins)
○ More ultrasonic sensors 
■ Increase detection accuracy
References
39
● PetroCohen. (2022, April 27). Lifting injuries leading to workers' comp claims. Retrieved from 
https://petrocohen.com/blog/common-lifting-injuries-at-work-petro-cohen/#:~:text=Not%20surprisin
gly%2C%20lifting%20heavy%20objects,cases%20of%20lifting%2Drelated%20injuries 
● Engelking, Carl. (2019, Dec 19). Meet YuMi: A Robot Nurse Built to Make the Rounds. Discover. 
Retrieved from 
https://www.discovermagazine.com/technology/meet-yumi-a-robot-nurse-built-to-make-the-rounds
● Whitwam, Ryan. (2019, Jan 23). Welcome to the Dystopia: Amazon Unveils Scout Delivery Robot. 
ExtremeTech. Retrieved from 
https://www.extremetech.com/extreme/284323-amazon-unveils-scout-delivery-robots
Questions?
Thank you
40


NaviBot autonomous robot proposal

Daher, Liam

An apple a day keeps the doctor away: Policy options to increase the consumption of plant-based foods in Canada

Simon Fraser University

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