I. Cover page (5 points)

Title

By: with team member names

For: Dr. Nowak, course number, course name, Academic year and Semester

Date.

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II. Executive Summary (25 points)

This should summarize the document and highlight each section. In industry, many times the executive summary is the only part of the document that is read in detail. Therefore, it should be a stand-alone section. It should not exceed 2 pages. Everything must be told (the challenge, the method, the accomplishments, objectives, goals, recommendations, next steps, …)

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Table of Contents

I.   Cover page (5 points) ............................................................................................................................. 0  

II.   Executive Summary (25 points) ............................................................................................................ 1  

III.   Introduction (5 points) .......................................................................................................................... 3  

IV.   Technical Problem (10 points) ............................................................................................................. 3  

A.   Performance Requirements ........................................................................................................... 3  B.   Competing Constraints / Trade-offs ............................................................................................. 3  

V.   Design Approach (10 points) ................................................................................................................ 3  

A.   Simulation ..................................................................................................................................... 3  B.   Experiments .................................................................................................................................. 3  

VI.   Discussion of Data (15 points) ............................................................................................................. 5  

VII.   Conclusions (20 points) ........................................................................................................................ 7  

VIII.  Appendix (5 points) .............................................................................................................................. 8  

Overall Assessment (5 points)

Table of Figures

Figure 1 – Simulink Model, Overview of Entire System ............................................................................... 4  Figure 2 – Simulink Model, Action Statement 1 ........................................................................................... 5  Figure 3 – Simulink Model, Action Statement 2 ........................................................................................... 5  Figure 4 – Simulink Results .......................................................................................................................... 6  Figure 5 – Wiring Schematic (Multisim) ...................................................................................................... 8  Figure 6 – Wiring Schematic with Pictures .................................................................................................. 9  Figure 7 – Energy Storage in AA Batteries ................................................................................................ 10  Figure 8 – Simulink Variable Values .......................................................................................................... 10  Figure 9 – The “Autono-mouser” ............................................................................................................... 11  Figure 10 – Arduino Code (RC_CARv26) .................................................................................................. 12  

Table of Tables

Table 1 – Contents of Type ‘T’ Data Packet ................................................................................................. 3  Table 2 - Power Budget ................................................................................................................................ 6  Table 3 – List of Components ....................................................................................................................... 9  

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III. Introduction (5 points)

This section should set the background and define the societal need. Why is this project important?

IV. Technical Problem (10 points)

This section is unique from the Introduction. The technical problem is quantifiable. The technical problem includes a hypothesis. The following summarizes the elements of a technical problem. The technical problem is frequently multi-faceted, that is, there are technical problems.

Table 1 – Contents of Type ‘T’ Data Packet

Data Description mx The average of all X position coordinate values of all tracked pixels [0:159] my The average of all Y position coordinate values of all tracked pixels [0:119] x1 The X position coordinate value of the top left most corner of the bounding box

[0:159] y1 The Y position coordinate value of the top left most corner of the bounding box

[0:119] x2 The X position coordinate value of the bottom right most corner of the bounding

box [0:159] y2 The Y position coordinate value of the bottom right most corner of the bounding

box [0:119] pixels The percentage of the number of pixels tracked in the color-tracking window

ranging from 0 to 255. Where 0 represents 0% and 255 represents 100%. 0 is returned if and only if no pixels are tracked at all within the color-tracking window.

confidence The percentage of the number of pixels tracked in the bounding box ranging from 0 to 255. Where 0 represents 0% and 255 represents 100%. 0 is returned if and only if no pixels are tracked at all within the bounding box.

A. Performance Requirements

Goals are not requirements, however, goals may be included in this section. Requirements are quantifiable.

B. Competing Constraints / Trade-offs

There is more than one solution to a problem as there are more than one constraint to a problem. Identify and discuss.

V. Design Approach (10 points)

Discuss your design choices and rationale.

A. Simulation

B. Experiments

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Figure 1 – Simulink Model, Overview of Entire System

The if-blocks in the Simulink model contain each if-statement coded into the Arduino … with explanations …

5

Figure 2 – Simulink Model, Action Statement 1

Figure 3 – Simulink Model, Action Statement 2

The output of each action-block was then …

VI. Discussion of Data (15 points)

Compare and contrast simulation with empirical

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Multiple data sets were collected during …

Table 2 - Power Budget

Component Volt mWatt mAmp # Ping Sensor 5 150 30 1 Servo 5 700 140 1 CMUcam4 5 215 43 1 9DOF 3.3 21.9 6.64 1 Arduino 5 2000 400 1 Total 3086.9 619.64

Battery Capacity (mAh) 1200 Estimated Runtime (h) 1.94 Estimated Runtime (min) 116.2

From Table 2, it can be seen that the total estimated current required to power the …

Figure 4 – Simulink Results

In this figure, the three different lines are supposed to represent output of the three different motors used in the RC car. The purple …

Time (s)

7

VII. Conclusions (20 points)

This project has been successful in that we were able to produce …

8

VIII. Appendix (5 points)

Pictures of the device Subsystem pictures

Figure 5 – Wiring Schematic (Multisim)

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Figure 6 – Wiring Schematic with Pictures

Table 3 – List of Components Component Details

RC Car New Bright 500RT “RAT” Microcontroller Arduino Mega 2560 microcontroller Acoustic Sensor Parallax PING)))™ Ultrasonic Distance Sensor, model 28015 rev. B Camera CMUcam4 Servo Parallax 180° standard servo motor Breadboard MOSFET (4) TIP 120 Resistor (4) 2.2kΩ Voltage Regulator L7803 9V Battery (2) Ultralife Lithium AA Battery (7) Energizer Lithium

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Figure 7 – Energy Storage in AA Batteries

% RC Simulink Model Variable Constants

clear,close,clc format compact Ra=5; % Armature Resistance, Ohm La=1; % Armature Inductance, H Kt1=10; % Torque Constant, N*m/A Ke1=4; % Speed Constant, V*s/rad Kt2=8; % Torque Constant, N*m/A Ke2=3; % Speed Constant, V*s/rad Jm1=5; % Motor Load, kg*m^2 Jm2=4; % Motor Load, kg*m^2 c=0; % Damping of Load, N*2/m

Figure 8 – Simulink Variable Values

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Figure 9 – The “Autono-mouser”

Springs

Ping Sensor

180° Servo

Springs

CMUcam4 9DOF stick

Arduino

Breadboard with MOSFETS, resistors and voltage regulator

Remote control circuit board

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Figure 10 – Arduino Code (RC_CARv26)

const int pingPin = 8; #include <Servo.h> #include <ADXL345.h> #include <HMC58X3.h> #include <ITG3200.h> #include <bma180.h> #include <MS561101BA.h> #include "I2Cdev.h" #include "MPU6050.h" #include "DebugUtils.h" #include "FreeIMU.h" #include "CommunicationUtils.h" #include <Wire.h> #include <CMUcam4.h> #include <CMUcom4.h> int raw_values[11]; char str[512]; int mx; float val[9]; FreeIMU my3IMU = FreeIMU(); Servo myservo; #define RED_MIN 90 #define RED_MAX 255 #define GREEN_MIN 0 #define GREEN_MAX 75 #define BLUE_MIN 0 #define BLUE_MAX 75 CMUcam4 cam(3); … } } long getPingData() { long duration, inches; pinMode(pingPin, OUTPUT); digitalWrite(pingPin, LOW); delayMicroseconds(2); digitalWrite(pingPin, HIGH); delayMicroseconds(5); digitalWrite(pingPin, LOW); pinMode(pingPin, INPUT); duration = pulseIn(pingPin, HIGH); inches = microsecondsToInches(duration); return inches; } long microsecondsToInches(long microseconds) { // According to Parallax's datasheet for the PING))), there are // 73.746 microseconds per inch (i.e. sound travels at 1130 feet per // second). This gives the distance travelled by the ping, outbound // and return, so we divide by 2 to get the distance of the obstacle. // See: http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf return microseconds / 74 / 2;