group 9 final presentation

7/29/2019 GROUP 9 Final Presentation

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Phong Le (EE)Josh Haley (CPE)

Brandon Reeves (EE)Jerard Jose (EE)

Sponsor: WCF

Mentor: Ryan Reis (Lockheed Martin)


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Scan terrain based on start to end autonomous route

Detection of IED

Notify and pinpoint location of detection

Avoid any obstacles encountered on route


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Use of IED has increased since the Vietnam War

Low Budget spending on platforms used for

detecting IEDs

Technology improves but yet death by IED

increases

More creative ways of utilizing IEDs


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Knight Sweeper will be able to operate in

autonomous and manual mode.

During autonomous mode Knight Sweeper will beable to navigate itself from a start to end point

During the autonomous operation Knight Sweeper

will be able to avoid any IED or obstacle within its

path


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Component Parameter Design Specification

Battery Operational time 1 hours

IED Detection Range 3 centimeters

Wireless module Minimum range 50 meters

GPS Accuracy 1 meters

GPS Update time 1 second

Compass Accuracy One cardinal direction

Motors Speed 2 miles per hour

Obstacle Avoidance Minimum distance 16 inches


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Power

Data


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Identify type, size, wheels and motors.

A New Design

Use an existing design


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Carry maximum payload of 5 lbs. Able to place sensors forward facing and

down. Capability to traverse different terrain types,

i.e. dirt, grass, sand etc.


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Chassis Length is 9.75 Width is 8 Height is 3.5

Lexan Panels

Wheels Diameter is 4.75 Width is 2.375 Rubber Tires

Output Shaft is 6 mm

Additional levels can be added ifnecessary


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Brushed DC Motor Type Allows for Pulse Width Modulation Control

Fits the A4WD1 chassis


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Identify how the vehicle will move.

Determine algorithm for obstacles.

Determine algorithm for detected IED.

Verify motor controller functionality.


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H-Bridge configuration

Forward

Reverse

Brake

Clockwise Rotation

Counterclockwise Rotation


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Inputs FunctionEnable = H C = H; D = L Forward

C = L; D = H Reverse

C = D Fast Motor Stop

Enable = L C = X; D = X Free RunningMotor Stop

L = Low H = High X = Dont Care


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Beat Frequency Oscillation

Two separate coils oscillator and a search coil

Oscillator creates a constant signal at a set frequency

Detection of metal by search coil creates a magnetic field

Magnetic field interferes with radio frequency, offset in frequencythen creates an audible beat


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Metallic detection done by detecting variation in high

frequencies

Output signal determined by supply current changes

Current is high or low depending on the presence of a

close metallic object

Output Current 10mA

Oscillator Frequency10MHZ

Supply Voltage 4-35V


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Two external circuits to implement two TDA0161 ICs.


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When the search coils detect metallic objects pin 6

outputs 1v


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Two search coils needed to

cover the width of the vehicle

Each coil made with magnetwire

Both coils set at about 155 uH

Fixture to extend the coils infront of the actual vehicle


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Old PCBs found in the lab will

be used to simulate IEDs

Copper is easily picked up bythe search coils

FREE


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One Maxbotix LV-

MaxSonar-EZ0 High

Performance Module

mounted on front Detection Range 6-245

w/ 45 degree beam

width


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Use of three pins GND (Ground)

Vcc (+5 V)

Analog Pin (Output)

Analog Pin Outputs a voltage proportional to the

distance Range Formula : Vm/Vi=Ri

Vm = Measured Voltage, Vi = Volts per inch(scaling factor of 9.76mV), Ri = Range.


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Option Number Name Resolution Interface Current Consu-mption

Cost Link1 LinkSprite JPEG

Color Camera

TTL Interface

160x120 TTL UART 80-100mA $49.95 http://www.spar

kfun.com/produ

cts/10061

2 CMOS Camera -

640x480

640x480 I2C Not Given $9.95 http://www.spar

kfun.com/produ

cts/8667

3 4D Systems

microCAM

Serial JPEG

Camera Module

- TTL

80x60,

160x120,

320x240,

640x480

TTL UART 62mA $59.00 http://www.robo

tshop.com/produ

ctinfo.aspx?pc=

RB-Fds-

15&lang=en-US

4 TTL SerialJPEG Camerawith NTSC

Video

160x120,320x240,640x480

TTL UART 75mA $42.00 https://www.adafruit.com/products/397
http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061


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Extras

Manually Adjustable Focus

Auto white balance Auto brightness

Auto contrast

Motion detection Multiple Resolutions


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Pro Gin SR-92

Update time: 1 second

Baud rate 9600 bps

3.3V Required

40 mA continuous tracking mode

5 Pin interface

Send data over serial


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LSM303DLH

Supply voltage of 2.5-3.3V

16 bit data out

Serial interface

3 magnetic field and 3accelerometer channels

Sleep-to-wake up mode

Current consumption of (3uA-83mA)


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XBee-PRO

Range of 300m indoor

Range of 1500m outdoor


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Stellaris M3 8962 Dev board.

Stellaris offers high computational power at 62.5 MIPS.

Offers 64K of RAM

Important for the A* algorithm

Interrupt Driven

Abundance of code examples and libraries 74HC4052 Analog MUX for UART multiplexing


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Integrated Power Supply 14.8 VDC

DC motors

IED Detection 5 VDC

Stellaris Microcontroller

Serial Camera

Obstacle Avoidance

3.3 VDC GPS Navigation

Wireless

Compass


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MCU

IED

Detection

GPS Compass SerialCamera

DC Motors

Obstacle

Avoidance5V Reg

3.3V

Reg

Wireles

14.8V

14.8V

5V

3.3V


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Tenergy Lithium Polymer Battery 14.8V at 5500 mAh

Reasons for choosing

High energy density (Wh/kg)

High energy/dollar (Wh/$)

High charge efficiency (80-90%)

Low self-discharge


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Linear Regulators Easy to implement Heat sink usually required

~50% efficient Clean voltage

Switching Regulators

Up to 88% efficient Requires more components Reduction in size of Heat sink needed Sawtooth ripple voltage at the switching frequency


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Texas Instruments TL2575Family (3.3V ,5V, 12V, and

adjustable.

Up To 88% Efficient(about 1V goes to heat)

Apply a small LC filter to

reduce output ripple by a

factor of 10.


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MCU

IED

Detection

GPS Compass SerialCamera

DC Motors

Obstacle

Avoidance5V Reg

3.3V

Reg

Wireles

14.8V

14.8V

5V

3.3V


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PC Software Operator Interface Allows for control

Display of robot status

Wireless

Embedded Software Initialize Systems

Interrupt Driven Obstacleand IED detection

Autonomous Navigation


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Written In java Displays current

location Command Modes


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Layered Approach via Xbee wireless

Application Layer

UART Layer

Xbee Wireless

Application Layer

UART Layer

Xbee Wireless

PC SoftwareEmbeddedSoftware


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C++ via Code Composer Each hardware system has a class

Utilizes Stellaris Ware Libraries

4 Modes

StandbyAuton-omous

Manual Error


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Not Depicted: 1Hz Telemetry Message No Valid Path


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Problem: Quickest Way from

A to B avoiding all known

obstacles and suspected

IEDs

Use the A* algorithm to find

the shortest path

Upon IED/Obstacledetection, remove location

from the search path and run

A* again!


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Creative Commons License3.0 from Wikipedia


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void initchip()void PCSerialISR()

void processRXmessage()Void send1HzTM()

Void navigate()Void runNextMove()

Int main()

Main

Void initPCSerial()int sendMessage(char*

buff, int num)Bool getMessage()

PCserial

void init()Int getStatus()

returnLocation()

GPSvoid init()void getPicture(unsigned

char* returnPointer)

SerialCamera

void init()Float getReading()

void IEDISR()

IEDDetection

void init()Float getReading()void ObstacleISR()

ObstacleDetection

void initDisplay()void dispSplash()void clrScreen();

Void printLn(char*string);

OLED

void init()void getHeading()

Compass bool validMessage()Bool setChecksum()

Int getPayload(unsigned char*

returnDatapointer)

Bool setPayload(messageType,

char* ipayload, int

payloadLength)

Int getLength()

Int getRawMessageData()

MessagePacket


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Completed Motor controller Power Regulation Wireless Communication

Manual Control


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Knight Sweeper test


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Using Eagle 6.1.0

2 PCBs will be made Power Regulation and Motor Control

Sensors, camera, GPS and wireless


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Top Layer Bottom Layer


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Top Layer Bottom Layer


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Motor Control and Power

Sensors


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Phong Le

IED Detection

Project Management Josh Haley

GPS

Serial Camera

Main Board

Lead Software Engineer Brandon Reeves

Obstacle Avoidance

Power Systems Lead Jerard Jose

Motor control lead

Platform Selection

PCB Fabrication Lead


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-GPS Accuracy

Camera

-IED Detection range

-Noise from Various Components

-Deviation between internal map and realworld.

-INDUCTORS!!!!


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QUESTIONS?

group 9 final presentation

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