Capstone Spring 2009Critical Design Review

Erich Hanke

Electrical Engineering

Cole Bendixen

Electrical and Computer Engineering

Erik Larson

Electrical Engineering

Quang Than

Electrical Engineering

HAMSter

2

HAMSter Project Overview

Mobile Servo Powered Cart Stereo-Vision Obstacle DetectionAutonomous NavigationFPGA Hardware / Software ControlIR Sensor “Failsafe” Collision Avoidance

Cart Control Systems

8-bit || I2C

ADC

IR

IR

IR

IR

IR

VIRTEX-5 FPGACam0

Cam1

Opto-ElectricIsolation

Servo

Servo

Servo

Servo

Servo

Servo

Right Wheels

Camera tilt/pan

Left Wheels

COM 1

GPSReceiver

Imageco-proc

DDR2256MB

HDR

COM 0

COMPASS

DEBUG

I2C

ServoControl

PLB

BUS

PowerPC440

Hardcore

BRAM16Mb

DMA

GPS

12 Channel Lassen IQ GPS Receiver with DGPS RS-232 communication interface.Uses NMEA 0183 communication protocol.Programmable output.

IR Sensors

Sharp GP2Y0A21YK0F Analog Distance SensorAnalog voltage output.

Vref

Servos

• HSR-8498HB HMI Robot Servo• 180 degrees or continuous rotation operation.• Controlled via 340Hz• PWM signal.

1.456 ms 1.497 ms 1.539 ms

Max. CCW Stopped Max. CW

Compass•Honywell HMC6352•IIC Controlled•SDA, SCL, +3.3V, Gnd• 0.5 Degree Heading Resolution•Write 'A' → Read Direction

Xilinx Virtex 5 FPGA

• 550 MHz Integrated Block Memory (5MB)

• 6 Clock Management Tiles CMT

• Dedicated cascade routing to form 64K x1 Block Memorys

• 1.0 V Core Voltage• 7 Stage PPC Pipeline• Multiple IOB Voltage

Support: 3.3V, 2.5V, 1.8V

PowerPC 440

1,100 DMIPSUp to 550MHzOut of Order ProcessingBranch Prediction256MB DDR2 200MHz

Cameras

• Videology 20K145DIG• Digital 8 bit YUV 4:2:2

Output• 510x494 Active Pixels• Software Controllable by IIC• Internal Sychronization• 5V • < 0.8 W

Camera Controller

• IIC Interface to Micro• 28.6 MHz Clock• Data on Each Clock• Hsync / Vsync Pins

Camera Board Timing Specs

13

Stereo Vision

Based upon the phenomena of parallax, where an observation at two locations along a baseline of a common object appears to cause an offset of the object. This offset can be used to determine relative distance to the object.

Camera One Camera Two

d1 d2

Point Spread FunctionSimple PSF is applied to the image to enhance edges.Parameterized sweeper size and intensity.Post convolution threshold filter applied.

HDL IMAGE CO-PROCESSOR

PPC HARDCORE PROCESSOR

DVI CONTROLLER

IMAGE PROCESSING

PPC REGINTERFACE

PLL

DATABUILDER

DVISIGNAL

GENERATOR

RAM BLOCK

BRAMCONTROL

CONTROLREGISTERS

DATABREAKER

CONVIMAGE

Code Flow Diagram

ProcessFrame

Position Evaluation Orientation

ProcessObjects

DeterminePath

Move andWait

ProcessFrame

Position Evaluation Orientation

ProcessObjects

DeterminePath

Move andWait

IR SensorISR

MovementStopped

ISR

FrameReady

ISR

Servo Controller System

• Memory Mapped Control Registers

• PWM Generators

• Timers

Frequency Register

Control Register

For Each Servo:

Duty Cycle Register

Timer

Timer Control Register

PWM Generator

FPGA

ADCCamera

x2 IR Sensor

x5

GPS

Battery 2

Opto-Isolator

Servo Motorsx6+

Battery 1

Power Systems

Logic Power SystemServo Power System

Logic Power SystemLogic Power System

Compass

Opto-IsolatorRegulators

IR Comparators GPS

Board to Board Connectors

BudgetItem Name / Description Unit Price Quantity Sub-Total After Donations

Xilinx ML507 Virtex 5-FX $1,406.00 1 $1,406.00 DONATION

Agilent 1692A Logic Analyzer Mictor Probe $1,150.00 1 $1,150.00 DONATION

Servo-Continuous Rotation Robot Servo CNT $79.99 8 $639.92 DONATION

Servo- Positional Robot Servo $59.99 2 $119.98 DONATION

Lithium Ion Battery Pack: Powerizer 7.4V $49.99 2 $99.98 $99.98

Powerizer Battery Charger $20.00 1 $20.00 $20.00

12 Channel Lassen IQ GPS $59.95 1 $59.95 $59.95

Antenna GPS Ultra-Compact Embedded $18.95 1 $18.95 $18.95

Sharp GP2Y0A21YK0F Distance Sensor $9.95 6 $59.70 $59.70

Color Board Camera 20K145DIG $113.87 2 $227.74 $227.74

3.00mm Lens M-12 $16.00 2 $32.00 $32.00

HMC6352 Digital Compass $59.95 1 $59.95 $59.95

Cart Frame Aluminum / wheels / screws $80.00 1 $80.00 $80.00

Miscellaneous wires and parts $60.00 1 $60.00 $60.00

PCB Layout $40.00 3 $120.00 $120.00

Sub-Total $ $4,154.17 $838.27

Donations $3,315.90

Total $ $838.27

• Mobile Tethered Bot

• IR Obstacle Avoidance

• Direction Awareness

• PCB Testing Rev-1

• First Cart Frame • Revision

•Mobile Autonomous Bot

•IR + Image Obstacle • Avoidance

• Avoidance Pathing

• GPS Navigation

• Various Operating Modes

• Mobile Untethered Bot

• IR Obstacle Avoidance• + Camera Obstical • Detection

• Fully Battery Powered • Cart

• GPS Direction and • Position Awareness

Milestone 1 ExpoMilestone 2

Erik

Cole

Quang

Erich

Hardware

Erik

Cole

Quang

Erich

PCB

Erik

Cole

Quang

Erich

Software

Erik

Cole

Quang

Erich

Documentation

Division of Labor

Erik

Cole

Quang

Erich

HDL

RISKS

Wheels operating at same speedsInaccurate calculation of cart speed to judge distance traveledInterrupt Controller

Questions???