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Mars RoverMars Rover Ground Control TeamGround Control Team

Design Review ReportDesign Review Report

Week 3Week 3Tim Hermann - Ben Davini - Jose Angulo - Ryan Morton

CPE450

Winter 2008

2007-01-24

22

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Presentation OverviewPresentation Overview

Project RolesProject Roles System RequirementsSystem Requirements

– Project DescriptionProject Description Specifications and ArchitecturesSpecifications and Architectures

– Command GUICommand GUI– Communication Black BoxCommunication Black Box– Cricket Localization SystemCricket Localization System

Individual ReportsIndividual Reports

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Project Roles - OverallProject Roles - Overall

Jose AnguloJose Angulo– Hardware Architect, Designer, System Hardware Architect, Designer, System

InterfaceInterface Ben DaviniBen Davini

– System Architect, Product Verification, System Architect, Product Verification, Reliability and Service, Intellectual PropertyReliability and Service, Intellectual Property

Tim HermannTim Hermann– Project Manager, Development Tools Specialist, Project Manager, Development Tools Specialist,

Customer LiaisonCustomer Liaison Ryan MortonRyan Morton

– Software Architect and Designer, ProcurementSoftware Architect and Designer, Procurement

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Project Roles – Project Project Roles – Project SpecificSpecific

Tim HermannTim Hermann– Communication Black Box, overall Communication Black Box, overall

integrationintegration Ben DaviniBen Davini

– Cricket data parsing and rover Cricket data parsing and rover communication, software verificationcommunication, software verification

Jose AnguloJose Angulo– Command GUI, packet specificationCommand GUI, packet specification

Ryan MortonRyan Morton– Cricket triangulation softwareCricket triangulation software

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System RequirementsSystem Requirements

Project DescriptionProject Description– Provide the software communications Provide the software communications

interface for remotely controlling the roverinterface for remotely controlling the rover– Develop and integrate the robot Develop and integrate the robot

localization systemlocalization system Functional SpecificationFunctional Specification

– Command GUI and communication black Command GUI and communication black box written in C# using Windows Formsbox written in C# using Windows Forms

– Cricket Localization system written in C to Cricket Localization system written in C to enable ease of integration with robot OSenable ease of integration with robot OS

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Engineering RequirementsEngineering Requirements

Localization system shall be accurate Localization system shall be accurate to within 8 cmto within 8 cm

GUI shall allow rover control via GUI shall allow rover control via software communication specificationsoftware communication specification

Commands shall be verifiableCommands shall be verifiable Graphical User Interface (GUI) needs Graphical User Interface (GUI) needs

to display, at a minimum, health & to display, at a minimum, health & rover status, sensor data, and rover status, sensor data, and positioning information.positioning information.

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System Architecture System Architecture OverviewOverview

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Communications Black Box Communications Black Box Architecture OverviewArchitecture Overview

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Communications Black Box Communications Black Box Architecture OverviewArchitecture Overview

in Shortin Short

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Client GUI Class OverviewClient GUI Class Overview

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Bill of MaterialsBill of MaterialsName Unit Cost* # Tax Cost Explanation

           

Cricket modules $195.00 6 $90.68 $1,260.68 Localization devices: 4 beacons, 2 receivers (1 per rover)

Cricket Programmer $95.00 1 $7.36 $102.36 Required to program cricket firmware

Cricket S&H $42.00 1   $42.00  

Laptop $600.00 2 $93.00 $1,293.00

One laptop required for ground control station to display GUI and facilitate command entry and communications between user and rover. Second laptop required for development in the Linux environment to simulate the rovers in the sandbox.

Cricket Mounting Supplies (sandbox) $200.00 1 $15.50 $215.50

Require four (4) poles and supporting hardware to accommodate cricket positioning above the sandbox

Cricket Mounting Supplies (rover) $50.00 1 $3.88 $53.88

Require two (2) bracket systems to mount crickets onto the rovers above all components to ensure adequate line-of-sight to beacons

Serial Cable $20.00 2 $3.10 $43.10Cables required to connect cricket listeners to rovers (1 each)

WiFi Router 75 1 5.8125 80.8125 Personal-Area Network (PAN) for testing facility

Total Cost $3,091.33

*Prices on unpurchased materials are subject to change

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Specification -Specification -Cricket Localization SystemCricket Localization System

User Interface – Program on the robot will User Interface – Program on the robot will query for coordinates when necessaryquery for coordinates when necessary

Real Time Constraints – Cricket Real Time Constraints – Cricket communication initialization and beacon communication initialization and beacon message frequencymessage frequency

Background Tasks – Parsing program runs Background Tasks – Parsing program runs as a separate thread alongside the as a separate thread alongside the Triangulation programTriangulation program

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Cricket Localization System –Cricket Localization System –Hardware ArchitectureHardware Architecture

Listener 1 (Cricket)

Listener 2 (Cricket)

MARS ROVER 1 MARS ROVER 2

Beacon 1(Cricket)

Beacon 4(Cricket)

Beacon 3(Cricket)

Beacon 2(Cricket)

Serial Port Serial Port

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Cricket Localization System –Cricket Localization System –Software Architecture OverviewSoftware Architecture Overview

Cricket Query Thread(background)

getCoords() Function(called by robot control

software)

Beacon DistanceArray(thread-safe)

The Cricket-Query Thread will run in the rover’s background, continually checking the beacon distances for getCoords() to use when needed

Function getCoords() will be called by robot software. This function returns the (x,y) coordinates in a struct Coordinate.

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Cricket Localization System –Cricket Localization System –Software FlowchartsSoftware Flowcharts

Triangulation Initialization

Start Cricket-Query Thread

Valid environmental

Variables?

Return

Fail

no

Yes

Initialize threadsafing mechanisms

Cricket-Query Thread(background task)

Initialize Serial Port

Read Serial (from Cricket)

Parse beacon number

Parse distance

Write to DistanceArray(thread-safe)

getCoords()

Read DistanceArray(thread-safe)

Triangulate (x,y)

Return

yes

All beacons Received?

no

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Bill of MaterialsBill of MaterialsName Unit Cost* # Tax Cost Explanation

           

Cricket modules $195.00 6 $90.68 $1,260.68 Localization devices: 4 beacons, 2 receivers (1 per rover)

Cricket Programmer $95.00 1 $7.36 $102.36 Required to program cricket firmware

Cricket S&H $42.00 1   $42.00  

Laptop $600.00 2 $93.00 $1,293.00

One laptop required for ground control station to display GUI and facilitate command entry and communications between user and rover. Second laptop required for development in the Linux environment to simulate the rovers in the sandbox.

Cricket Mounting Supplies (sandbox) $200.00 1 $15.50 $215.50

Require four (4) poles and supporting hardware to accommodate cricket positioning above the sandbox

Cricket Mounting Supplies (rover) $50.00 1 $3.88 $53.88

Require two (2) bracket systems to mount crickets onto the rovers above all components to ensure adequate line-of-sight to beacons

Serial Cable $20.00 2 $3.10 $43.10Cables required to connect cricket listeners to rovers (1 each)

WiFi Router 75 1 5.8125 80.8125 Personal-Area Network (PAN) for testing facility

Total Cost $3,091.33

*Prices on unpurchased materials are subject to change

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