Post on 14-Jun-2020
Nautical Autonomous System with Task Integration
(code name NASTI)
Students: Terry Max Christy, Jeremy Borgman
Advisors: Dr. Gary Dempsey, Nick Schmidt
1
∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Embedded System
∗ Image Processing
∗ Path Planning
∗ Results
Outline
2
∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Embedded System
∗ Image Processing
∗ Path Planning
∗ Results
Outline
3
3
Background Information
4
4
NASTI
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5
∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Embedded System
∗ Image Processing
∗ Path Planning
∗ Results
Outline
6
6
System Overview
7
7
∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Embedded System
∗ Image Processing
∗ Path Planning
∗ Results
Outline
8
8
9
9
Thruster 1
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10
Thruster 1
Thruster 2
Thruster 3
Thruster 4
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11
Thruster Circuitry
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12
Left Drive
Thruster 1
Thruster 2
Thruster 3
Thruster 4
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13
Left Drive Right Drive
Thruster 1
Thruster 2
Thruster 3
Thruster 4
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14
Main Drive Circuitry
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15
Left Drive Right Drive
Direction
ControlThruster 1
Thruster 2
Thruster 3
Thruster 4
16
16
Bi-Directional Motor Control
R1
Vcc
M+-
R2
Vcc
17
17
Bi-Directional Motor Control
R1
Vcc
M+-
18
18
Bi-Directional Motor Control
R1
Vcc
M+-
19
19
Bi-Directional Motor Control
R1
Vcc
M+-
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20
Bi-Directional Motor Control
R1
Vcc
M+-
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21
Bi-Directional Motor Control
R1
Vcc
M-
+
22
22
Left Drive Right Drive
Direction
Control
Master POWER
Thruster 1
Thruster 2
Thruster 3
Thruster 4
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23
Left Drive Right Drive
Direction
ControlAtMega
368
Thruster 1
Thruster 2
Thruster 3
Thruster 4
Master POWER
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24
∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Embedded System
∗ Image Processing
∗ Path Planning
∗ Results
Outline
25
25
Communication Overview
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26
Master AtMega 128
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…
Atmega128
Remote Control Output50Hz Servo Signal
…
…
…
PWM Output0 – 99% 1KHz PWM…
…
…
…
…
…
Direction Output0 – 5v GPIO
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Servo Signals
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w1
w2 Threshold
w3
w1
w4 Threshold
w5
Forward Backward
28
Communication Protocol
29
* * * M0 M1 M2 M3 M4 M5
3 Byte Header Packet 6 Byte Motor Info Packet
10101010
7 bits for PWM resolution 1 bit for direction
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∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Embedded System
∗ Image Processing
∗ Path Planning
∗ Results
Outline
30
30
31
R/C Control
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32
R/C Control
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33
R/C Control
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34
R/C Control
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35
R/C Control
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36
R/C Control
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37
R/C Control
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38
R/C Control
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∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Embedded System
∗ Image Processing
∗ Path Planning
∗ Results
Outline
39
39
Beagleboard Overview
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40
∗ Used Narcissus image builder to create low profile custom image
∗ Configured serial port for remote programming
∗ Set up Samba server for remote login via PuTTy
∗ Installed kernel modules for webcam/wireless adapter
∗ Installed and configured openCV
∗ Learned how to write makefiles for multifile compiling
Beagleboard
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41
∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Embedded System
∗ Image Processing
∗ Path Planning
∗ Results
Outline
42
42
Image Processing
43
Receive Target Image
Convert Image to HSV Color
Space
Filter via Thresholding
cvErode/ cvDialate
Blob Detection
Store Buoy Information
in an array of buoy
structures43
43
Image Processing
44
Receive Target Image
Convert Image to HSV Color
Space
Filter via Thresholding
cvErode/ cvDialate
Blob Detection
Store Buoy Information
in an array of buoy
structures44
44
Image Processing
45
Receive Target Image
Convert Image to HSV Color
Space
Filter via Thresholding
cvErode/ cvDialate
Blob Detection
Store Buoy Information
in an array of buoy
structures45
45
Image Processing
46
Receive Target Image
Convert Image to HSV Color
Space
Filter via Thresholding
cvErode/ cvDialate
Blob Detection
Store Buoy Information
in an array of buoy
structures46
46
Image Processing
47
Receive Target Image
Convert Image to HSV Color
Space
Filter via Thresholding
cvErode/ cvDialate
Blob Detection
Store Buoy Information
in an array of buoy
structures47
47
Image Processing
48
Receive Target Image
Convert Image to HSV Color
Space
Filter via Thresholding
cvErode/ cvDialate
Blob Detection
Store Buoy Information
in an array of buoy
structures48
48
Image Processing
4949
49
∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Beagle Board
∗ Image Processing
∗ Path Planning
∗ Results
Outline
50
50
Path Planning
5151
51
Image Processing
5252
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Path Planning
5353
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54
Control Block Diagram Forward Path
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∗ Original Goals
∗ System Overview
∗ Review of Completed Work
∗ Motor Interfacing Module
∗ Communication
∗ RC Control
∗ Beagle Board
∗ Image Processing
∗ Path Planning
∗ Results
Outline
55
55
Path Planning
5656
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Results
5757
57
Questions?
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58
HSV chart
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60
Serial Communication
� TTL vs RS-232 voltage levels
� Three pins RX, TX, and GND
� Multiple Baud Rates
� Baud Rate vs Bit Rate
� Computing Baud Rate error
� Baud rate test method
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61
Thruster 1
Circuit Calculation
Ic2 = Ib2 = 67mA
Ib1 = .7mA
Ic2 = 1.5A
+ 0
.3V
-
+ 1
.2V
-
61
Structures
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Degrees of Freedom
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∗ BeagleBoard is 32 bit ->32 bit value.
∗ Same as int, less than a double
∗ +-3.4*10^+-38 roughly 7 bits of precision
∗ ARM – A8 contains a NEON coprocessor
∗ Dedicated to floating point operations
∗ 1 instruction/cycle
Floating point values
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∗ [1] “The Five Card Draw" 5th RoboBoat Competition -
Preliminary Rules Arlington, VA: AUVSIfoundation. PDF.
Sources
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