multidisciplinary engineering senior design project 06010: unmanned surveillance vehicle preliminary...
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Multidisciplinary Engineering Senior Design
Project 06010: Unmanned Surveillance VehiclePreliminary Design Review11.7.05
Team Members: Randy Cicale, Laurence DeWitt, Stephen Ray, Ian Shelley, Christopher Stilson, Stephen VisalliTeam Mentor: Dr. Mercin LukowiakAcknowledgements: Dr. Alan NyeKate Gleason College of Engineering
Rochester Institute of Technology
Overview
Project Overview Process System Diagram Analysis/Synthesis of Design Challenges/Risks Future Planning
Project Overview
Original Proposal Sponsor Unmanned ground vehicle GPS guided Photographic surveillance Wireless data transfer 3 Preliminary concepts
Needs Assessment
Communication Vehicle <–> Remote Computer
Operation GPS <–> Vehicle
Graphical User Interface Constant Photographic Feedback Navigate through GPS waypoints
Key Requirements & Critical Parameters Navigate through waypoints Reliable data transfer Provide photographic feedback Graphic User Interface Package for < $2000 One-hour battery life Use on dry asphalt
Base-plate
Material Cost Material Availability Strength Manufacturability Conductivity Finish Aesthetics
User Interface
Data processing GPS and Visual Surveillance
User Friendly Ability to adapt to users requests
Transceiver
Transmit/Receive Wireless Data Selection Parameters:
Outdoor transmission distance Baud Rate Power consumption Ease of Use
I/O protocol Impedance matching FCC Govt. regulations
Cost
Transceiver Comparison
Wi232 Zigbee WiFi
Freq 902-928 MHz 902 MHz or 2.4 GHz
2.4 GHz
Outdoor Range 4000 ft 500 ft 300-500 ft
Indoor Range 400 ft 30-60 ft 50-75 ft
Data Rate (Baud)
.3-152.34 kbps
40 kbps 1 Mbps
Cost <$10 ~$15 >$20
Transceiver
Radiotronix Wi.232 Developmental Kit Govt. Regs. Impedance match Power performance
3 AAA’s I/O ports
RS232 & USB
GPS Background
Cost Effective/Simplistic compared to INS Module v. Handheld Easy to process data
Selection parameters Cost Feasibility Power consumption Accuracy Acquisition time
GPS Polstar Technologies PMB-248
Cheap - $26 Low power – 80mA at 5V Quick access time – 2-40sec 12 parallel satellite-tracking channels
for fast acquisition and reacquisition
FPGA Background
Easy to Modify Lots of I/O ports Chip v. Evaluation Board
Selection parameters Cost Power consumption Amount of available logic Speed
FPGA Xilinx Virtex-4 ML403 Evaluation
Board Cost - $495
Donated to the team from Kodak Low power 450 MHz PowerPC Core RS-232 Serial Port, 3 USB Ports (2
Peripheral/1 Host), 64 General Purpose I/O
Servo Motors
Background Importance 4 Motors “Tank Drive”
Selection Parameters Required Voltage RPM Stall Torque Cost
Camera
Background Importance Color Not restrict performance
Selection Parameters Size Range Battery life Cost
Camera cont’d
9V@150mA Range of 1000’ (LoS) 0.8”x0.8”x0.75” Includes base station 60 deg. Viewing angle $99.00
BOM & CostsBILL OF MATERIALS P06010 Unmanned Surveillance Vehicle
PARTNUMBER(Assy/PN)
PART NAMEQTY
MFR MODEL # SUPPLIERCOST
$OUR
$Sub $
10 BASE PLATE 1 (IN-HOUSE) 06010-001-A Metal Source 48 25 25
A20 20 SERVO MOTOR 4 Lynxmotion PGHM-13 Lynxmotion 23.7 23.7 94.8
A20 21SERVO CONTROL
BOARD 2 Lynxmotion HB-04 Lynxmotion 88.95 88.95 177.9
A20 22SERVO FASTENER
(pair) 2 Lynxmotion MMT-02 Lynxmotion 7.95 7.95 15.9
A20 23 9V BATTERY 2 N/A N/A N/A 1 1 2
30FPGA
1 XILINX
HW-V4-ML403-USA Eastman Kodak 495 0 0
A40 40 TRANSCEIVER 1 RADIOTRONIX RK-Wi232DTS RADIOTRONIX 249 0 0
A40 41 AAA BATTERY 6 N/A N/A N/A 0.5 0.5 3
50CAMERA
1 Unknown CM-1202Spy Camera
Specialist 99 99 99
60GPS BOARD
1 POLSTAR TECH PBM-248globalsources.co
m 26 26 26
70 WHEEL (pair) 2 Lynxmotion TRC-02 Lynxmotion 25 25 50
80 COMPUTER 1 DELL INSPIRON TEAM 1000 0 0
90LM317 V
REGULATOR 1 N/A LM317 mouser.com 1 1 1
Grand Total: 494.6
Anticipated Design Challenges/Risk Prototype safety
Roll-cage Extended Wheel Base Use of parking lot
Over-budget Power consumption
SD II Project Plan
11.14.05 - Begin Ordering Parts Work throughout winter quarter 4.2.06 - Prototype Complete 4.3.06 to 4.30.06 - Test and
Debug 5.15.06 - Prepared for
Comprehensive Design Review
Summary/Questions
Process Needs Feasibility Preliminary design concept Risks/challenges Project planning
Backup Slides and References Pugh’s Method for Feasibility
GPS Servo Motors Wheels Camera FPGA Transceiver Base Plate Drive-Train
GPS FeasibilityEvaluate each additional concept
against the baseline, score each attribute as: 1 = much
worse than baseline concept 2 = worse than baseline 3 = same
as baseline 4 = better than baseline 5= much better than
baselinePMB-248PMB-248 PMB-238PMB-238 EM-401EM-401 PGM-102PGM-102
Sufficient Student Skills?Sufficient Student Skills? 3.0 3 3 3
Sufficient Lab Equipment?Sufficient Lab Equipment? 3.0 3 3 3
Ease of UseEase of Use 3.0 2 2 2
Cost of Materials?Cost of Materials? 3.0 3 3 3
Cost of Device?Cost of Device? 3.0 3 2 2
SizeSize 3.0 3 2 3
Technology Feasibility Technology Feasibility 3.0 2 1 2
AccuracyAccuracy 3.0 3 1 1
Acquisition TimeAcquisition Time 3.0 3 1 2
Power SupplyPower Supply 3.0 3 2 3
Mean ScoreMean Score 3.0 2.8 2.0 2.4
Normalized ScoreNormalized Score 100.0% 93.3% 66.7% 80.0%
FPGAEvaluate each additional
concept against the baseline, score each attribute as: 1 = much worse than baseline
concept 2 = worse than baseline 3 = same as baseline
4 = better than baseline 5= much better than baseline
Virtex 4ML401
Evual Kit
HC12 Micro-
controller
Virtex 4 ML402
Evual Kit
Virtex 4
ML403 Evual
Kit
68000 Mirco-
Controller
Relative Weight
Sufficient Student Skills? 3.0 2 3 3 3 11%
Processing Power 3.0 2 2.5 5 2 3%
Memory 3.0 1 3 5 1 5%
Aviable Logic 3.0 2 2.5 2.7 1 14%
I/O Ports 3.0 1 3 3 1 16%
Interfacing with extra memory 3.0 1 3 3 1 16%
Simulation of Models 3.0 1 3 3 1 14%
Sufficient Lab Equipment 3.0 2.5 3 3.0 2.5 3%
Cost 3.0 2 3 3 2 3%
Cost of components 3.0 1 3 3 1 16%
Weighted Score 3.0 1.3 2.9 3.1 1.3
Normalized Score 100.0% 43.2% 97.3% 105.0%
42.3%
Base-Plate FeasibilityEvaluate each additional concept
against the baseline, score each attribute as: 1 = much
worse than baseline concept 2 = worse than baseline 3 =
same as baseline 4 = better than baseline 5= much better
than baselineAluminuAluminu
mm SteelSteelCarbonCarbonFiberFiber WoodWood
Material Availability?Material Availability? 3.0 3 1 4
Strength?Strength? 3.0 3 4 1
Finish?Finish? 3.0 2 4 2
Easy to process?Easy to process? 3.0 3 2 4
Time to process?Time to process? 3.0 3 2 3
Aesthetic appeal?Aesthetic appeal? 3.0 2 5 1
Cost of material?Cost of material? 3.0 4 1 5
Mean ScoreMean Score 3.0 2.9 2.7 2.9
Normalized ScoreNormalized Score 100.0% 95.2% 90.5% 95.2%
Drive-Train FeasibilityEvaluate each additional concept
against the baseline, score each attribute as: 1 = much
worse than baseline concept 2 = worse than baseline 3 =
same as baseline 4 = better than baseline 5= much better
than baseline 4 servos4 servos
Servos In2
Corners
ChainChainDriveDrive
nn
BeltBelt DrDrivivenen
22CasteCaste
rsrs
Skill to manufacture?Skill to manufacture? 3.0 3 1 1 3
Access to necessary tooling?Access to necessary tooling? 3.0 3 2 2 3
Cost of Materials?Cost of Materials? 3.0 2 2 2 3
Cost of Purchased Components?Cost of Purchased Components? 3.0 4 3 3 3
Time to assemble?Time to assemble? 3.0 4 2 2 3
Time to order parts?Time to order parts? 3.0 3 2 2 3
Time to manufacture parts?Time to manufacture parts? 3.0 2 2 2 3
Multiple Technologies Needed?Multiple Technologies Needed? 3.0 3 3 3 3
Back-up with engineering Back-up with engineering calculations?calculations? 3.0 2 1 2 3
Performance?Performance? 3.0 2 2 2 1
Ability to be used on various Ability to be used on various surfaces?surfaces? 3.0 2 3 3 1
Mean ScoreMean Score 3.0 2.7 2.1 2.2 2.6
Normalized ScoreNormalized Score 100.0%90.9
% 69%72.7
%87.9
%
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