wandering ambassador

Wandering AmbassadorP12215

Sponsors: EME Dept., ARM, Harris, Dr. Mondragon, Cypress, RIM

TeamName Major Administrative Role Focus

Praneeth Pulusani CE Team Lead Software, Architecture,Interfacing and Controls

Dan Massar EE Team Lead, Meeting Facilitator Voltage Regulator redesign

Sam Stats ME Documentation/Edge Quick disconnect,Mechanical Assembly

Derek Badon EE PCB Layout

Phil Tatti EE Sonar, IR, H-Bridge, PSoC

Anthony Lanza EE Battery Indicator

Sheena Mital EE Treasurer PCB Layout Assistance

Project Statement

• 4 years of project legacy

• Showcase creativity and aptitude of RIT students

• Reduce learning curve for future groups

• Enable quicker problem solving

• Parallel multidisciplinary development

Customer Needs• Redesign and Simplification of Existing Systems without

Loss of Performance• Reduce Learning Curve for Future Groups• Create Test Environment and Implement a Quick

Disconnect System

Critical Specs

P12215 Wandering Ambassador Test Stand - Critical Specs

Engineering Specification (Listed in Order of Importance) Units of Measure Marginal Value Ideal Value

Reliability issues/week 1 0

Condense Microcontrollers by Programming with PSoC #of microcontrollers 1 0

Redesign and Refabrication of PCB Layout binary y y

Mechanical Breakaway to Allow for Testing on Mule binary y y

Implementation of Sensors while Limiting Sensory to Software Latency-Input Time

seconds 0.3 0.1

Implementation of Sensors while Limiting Sensory to Software Latency-Input Time

binary y y

Create GUI to Allow for Diagnostic Mode Operation binary y y

Create Various Tutorials for Future Groups binary y y

Concept SummaryInitial Problems

• Over heating voltage regulators

• Large learning curve• Very difficult to debug• Sensors not

functioning properly• Crowded workspace• “Rats nest” of wires• Difficult programing

architecture• Too much going on

Concept SummaryCurrent Standings• Voltage regulator redesign

with heat sinks• Simple debugging Protocol• Working sensors which

report values• Disconnect system

integrated• PCB Redesign• Tips and Tricks for next

group• Stripped of unnecessary

sensors

Communication Interface Design• The remote control

o Interface runs as a website on the client, in a browsero When push buttons are pressed to control robot, AJAX request is sent to Pandaboard.

AJAX requests to get and update sensor values are sent in timed intervals automatically.

• Pandaboardo Python Webserver reads the incoming requests/commands and processes themo If it’s a low level command (move command or sensor read command), request is

forwarded to cypress and if there is any response, it is sent back to the cliento If it’s a high level command (Auto navigate or servo scan mode), it launches threads that

automate sending of low level commandso If its halt command, threads are stopped and halt is also issued to cypress

• Cypresso Continuously monitors its UART ports for commandso When a command is received, it interprets the command, calls the necessary function and

returns a value if necessary

System Testing ResultsSonar Distance Measurements

Measured Distance (inches)

Detected Distance (inches)

12 10

24 24

36 36

48 48

60 60

72 72

84 84

86 96

108 108

120 122

132 134

144 147

156 161

168 173

180 185

192 197

204 209

System Testing Results-Sonar

Measured Distance Detected Distance Distance From Sonar Distance from Center12 12.08 48 5.7524 24.17 60 5.7536 36.25 72 5.7548 48.34 112 7.1560 60.4272 72.5184 84.5996 96.65

108 108.76120 122.86132 134.95144 147.03156 161.13168 173.22180 185.3192 197.39204 209.47

Sonar testing was done by centering the robot sonar along a seam in the tiles on the floor. Markers were then laid out every foot, with 0 being on the ground directly underneath the sonar. A large flat object was then placed in front of the sonar at every foot interval. The sonar returns an analog voltage that when used in conjunction with a scaling factor, determines the sensed distance. To test the beam width, at the distances shown below, the same object was placed in the center, then moved off to the side incrementally until the sonar did not detect it. Interestingly there are some fringe effects right on the cusp of the beam. More measurements were not taken for beam width because of the relatively slow rate of increase.

System Testing Results-Infrared

0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.50

10

20

30

40

50

60

70

80

f(x) = 3.53741252631538 x^-1.36355005018725R² = 0.966390370845827

Distance vs Voltage

The infrared sensors were tested the same was as the sonars. The distance cannot be obtained as easily as it was for the sonars, however. Measurements have to be taken and a line-fit (shown below) has to be applied to find the function to determine the sensed distance.

Objective Project Evaluation

Successes•Proper robot forward, reverse, left and right movement•Quick disconnect system to enable use of mule for testing purposes•Redesign of voltage regulators•Significant cleanup and organization of PCB board•Live video stream through website•Tricks/tips manuals to help future teams quickly learn current design•Current project design allows for future teams to develop without need for total redesign of PCB•Robot has been developed such that high level auto

navigation can be implemented with the proper programming

•Inclusion of prototype area for future developmental purposes•Diagnostic GUI, which can be displayed on computer using

website

• Won Second Place in the ARM design competition

Not Fully Functional

•Integration of IR sensors into auto-navigation •Compass modulation testing/incorporation

into final design•GPS location of robot had not been

integrated into design• Exceeded budget by $320

Future Work• Room for expansion• Further autonomous

capabilities• A second PSoC can

be added to prototype area

• GPS capabilities• Compass

Expenses & Donations

• Final budget spent ~$1220

• Donated items:o Pandaboard ($180)o Cypress PSoC 3/5 ($50)o Sparkfun RS232 Level Shifter ($20)o Blackberry PlayBook ($200)

*Donated by Dr. Mondragon

Questions?