Critical Design Review Group 7 Jason Dumbaugh Artiom Bell Koltan Riley II

Critical Design ReviewGroup 7

Jason DumbaughArtiom Bell

Koltan Riley II

KIFTKnight Industries Five Thousand

UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

• To build a fun, working Senior Design project that won’t break the bank.

• To introduce a project that is useful to the military, as well as other government agencies.

• To introduce a product that the everyday consumer will be able to use.

• To learn the dynamics of as many electrical components as possible (Bluetooth, GPS, Microcontroller programming, sensors)

Project Objectives


Knight Rider’s K.I.T.T. had:• Turbo Boost – allowed KITT

to reach speeds in excess of 200 MPH

• Pursuit Mode – high-speed driving mode where KITT was in control of the car

• Infrared Tracking Scope – allowed KITT to sense objects within 10 miles

• Flame Thrower – Two flame throwers were located on KITT’s bumper

Inspiration


KIFT will have:• A regular RC car motor, no 200 MPH speeds here.• Pursuit Mode – KIFT will be able to drive itself using GPS

waypoints for guidance.• Tracking Scope – KIFT will be able to sense dangerous walls

and other objects and maneuver around them.• Remotely controlled through a Bluetooth controller.• NO Flame throwers, they would melt KIFT.

Key Design Objectives


Block Diagram


Bluetooth Controller

Bluetooth Module

MicrocontrollerGPS

Sensor 1

Sensor 2

Sensor 3

Sensor 4Drive Train

Playstation3 SIXAXIS• Bluetooth Capabilities• The Range of Motion within

30 ft.• SIXAXIS™ Technology• Battery Life ( 30 Hrs.)• Rechargeable (USB Charger)• High amount of input

buttons

Bluetooth Controller


Hitari K.I.T.T. • Replica of vehicle in Knight

Rider• Cost Efficient for a RC

Vehicle ($65 USD)• K.I.T.T. comes full assembled• Full assembly becomes

difficult for modification in being able to manipulate the equipped circuit cards.

Chassis Selection


Evader• relatively similar in size

compared to K.I.T.T.• Reasonable cost for a

Hobby RC Vehicle ($100 USD)

• Due to the minimal use of Circuit cards used in the Evader, our necessary modifications can be easily made to the vehicle.

• Ample space for our equipment.

Chassis Selection



LPC2148• 60MIPs ARM processor with 512k

flash• Runs with simple robust protocol

on UART, SPI, I2C• All FAT, USB, and peripherals are

accessible from Java Programs• USB device• All I/O pins are 5 V tolerant• Enumerates as a USB mass storage

Microcontroller Selection


Uberboard• Socket for EM-408 SiRF

III GPS receiver• Socket for BlueSMiRF

short range RF modem• Socket for micro SD card

(up to 2GB)

Microcontroller Dev Board


ALFATxp• Can be easily used with any

microcontroller including PIC, AVR

• 2 Serial Ports• More prototyping room• Supports MultiMedia Card

(MMC) and Secure Digital• All features of the

Uberboard• Java Virtual Machine • Unoccupied I/Os

Microcontroller Dev Board


EM-408• SiRF III Chipset• 20-Channel Receiver• Extremely high sensitivity : -159dBm• 10m Positional Accuracy / 5m with

WAAS• Hot Start : 8s / Warm Start : 38s / Cold

Start : 42s• 75mA at 3.3V• 20gram weight• Outputs NMEA 0183 and SiRF binary

protocol

GPS Selection

STMicroelectronics GS-BT2416C1DB

• Onboard USB port for easy programming

• Integrated Antenna• Class 1: ~100m range• USB, UART, PCM, SPI• Low Power Consumption• Cheap ~$50

• One Problem… no HID profile!

Bluetooth Chip Selection


Bluegiga WT32• HID (Human Interface

Device) profile and many others

• Bluetooth 2.1 compliant• Integrated Antenna• Class 2: ~30m range• USB, UART, PCM, SPI• Low Power Consumption• Cheap ~$50

Bluetooth Chip Selection


Devantech SRF05• TTL Interface (0 and 1)• Min range: 3cm radial• Max range: 4m radial• 40kHz frequency• Easy to manipulate• Moderately priced ~$30 each• Need 4 sensors

Sonar Sensor Selection


Power Supply


• Primary: Duratrax Starter Battery Pack require for the EVADER.

• Secondary: designed to power the other electrical components of the vehicle (GPS, Bluetooth, Sensors, Microcontroller)

• Voltage Regulator -LM7805 capable of maintaining output voltage between 5V-18V. LM317T capable of maintaining 1.2V-37V

Primary Power Supply


Duratrax Starter Box Power Pak DTXP4600

• Consists: AC wall Charger, 2 1500mAh 7.2V 6 cell flat battery (Ni-Cd) packs .

• Charger: Capable of fully recharging the battery pack in a 2-3 hour time frame.

• Inexpensive ~$40

Secondary Power Supply


• Source: 9V Battery• Capable of providing

the necessary constant voltages to the electrical components.

• Constant Voltages to output 5V (LM7805) 3.3 V (LM 371T).


Wiring of the WT- 32

Other Interfacing Aspects


• GPS– Will be connected to the ALFATxp via UART 1

• Bluetooth – Will be connected to the ALFATxp via UART 2 multiplexed with UART 1

• Propulsion – The LPC will send out a PWM signal through two I2C ports for

Left/Right and Forward/Reverse controls• Sensors

– 5 GPIO ports will be used for sensors– The outbound V+ will be shared but each sensor will have an

individual return line• Storage

– The GPS waypoints will be saved on the SD card which will function as the unit’s Hard Drive

Testing


• Stage 1– Bluetooth LED Test– Movement Control Test using direct input from PC (No Bluetooth)

• Stage 2 – Use Bluetooth to operate motion controls– GPS Coordinate Storage Test– Sensor Stopping Tests

• Stage 3– Waypoint finding test– Object Avoidance Algorithm Implementation– Integration of Object Avoidance and Waypoint finding

Projected Timeline


• September: Manually pair onboard vehicle Bluetooth module with PS3 Controller.

• Early October: Use PS3 Controller to drive KIFT and ensure proper button mapping and kill switches.

• Late October: Trim GPS streams and ensure they’re properly saved into KIFT’s memory.

• Early November: Program sensor data and produce object avoidance algorithm.

• Mid-November: Incorporate object avoidance algorithms with Pursuit Mode.

• Late November: Acquire final circuit board and install components. Final testing.

Kift’s finances


Project Completion %


• Design- 80%• Parts Acquisition-80%• Programming-20%• Bluetooth communication-25%• GPS Communication-0%• Object Avoidance-0%• Prototyping-30%• Testing-0%• Documentation-70%

• Overall-35%

Image Permissions


The images in today’s presentation were reproduced with permission from:• Hitari, Inc.• Sparkfun Electronics• Acroname• STMicroelectronics

Questions?


KITT at CES 2009 in Las Vegas

Critical Design Review Group 7 Jason Dumbaugh Artiom Bell Koltan Riley II

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