ECE 477 Design Review Team 08 Spring 2010
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Transcript of ECE 477 Design Review Team 08 Spring 2010
ECE 477 DESIGN REVIEW TEAM 08 SPRING 2010
Greg Beau SerajAnanya
Outline Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation PCB layout Software design/development status Project completion timeline Questions / discussion
Project Overview
Autonomous robot Simulates behavior of dog fetching Tracks a thrown object, picks it up, and
returns it to thrower Able to avoid obstacles
Computer vision Able to recognize an object using a
camera Follows object using computer vision
algorithms (SIFT)
Project-Specific Success Criteria
An ability to identify a target object within a captured image
An ability to control vehicle direction and speed
An ability to recognize nearby objects in anticipation of avoiding said objects
An ability to pick up an object autonomously An ability to record a GPS location in order
to verify that DOG has returned to this location
Block Diagram
Component Selection Rationale Microcontroller
Freescale MC9S12A 8-channel PWM Dual SCI Familiar
architecture Chassis
Self-designed and built
Cheapest Greatest flexibility
for designing neck/arm
Component Selection Rationale Vision processor
Intel Atom board Available for free Ability to use high-
level languages H-bridges
VNH3SP30 30A capable PWM drive
Component Selection Rationale Motors
Planetary gear motor
High torque Stall torque 152 oz-in (x4)
Ample speed No load 1023 RPM
GPS PMB-248 Accuracy of ±2m 1 second refresh rate
Component Selection Rationale Sonar Sensors
LV-MaxSonar-EZ3 6” to 254” range
with 1” resolution 3 ¼” diameter
dowel
Packaging Design Chassis
House electrical components
Neck Extends to reach out
and grab object Head
Top mounted camera for maximum field of view
Tail Aesthetics (possible GPS
mounting position)
Packaging Design
Packaging Design
CameraGPS (tail?)Servos (TBA)Ultrasonic
SensorsMotorsBatteries
Atom
Head
NeckBody
Schematic/Theory of Operation
Schematic/Theory of Operation LM2675
Input: 14.4V Output: 5.0V Drives: Micro,
Servos, Sensors, GPS, Level Translator
AP1509 Input: 14.4V Output: 12.0V
(2.0A) Drives: Atom board
Schematic- H-Bridge
PWM Pin Enable
and direction
pins
µC
Test Points
8.4V @ 30A GNDBattery
VNH3SP30 Power Input: 8.4V
@ 30 A Logic Input: PWM,
Direction and Enabling I/O @ 5.0V
Drives: Motor(x2)
Schematic-Level Translators MAX3232
Input: TTL Rx/Tx
Output: RS-232 Rx/Tx
Allows for serial communication
Schematic - Microcontroller
H-Bridges
MC9S12A 8-Ch PWM
Motor Drivers (x2) Servos (x6)
8-Ch ATD Sonar Sensors (x3)
24-Ch I/O Motor Drivers (x8) LEDs (x4) Push Buttons (x3)
2-Ch Serial Atom Board (x1) GPS (x1)
Schematic-Oscillator and BDM 6 MHz quartz
crystal Pierce oscillator
BDM connector Used for debugging Reset BKGND (signal) Power / Ground
PCB Layout
PCB Layout – H Bridge
Wide traces/ multiple traces for power rails
Drill holes for soldering
Heat sink drill holes
Output headers connected through thick traces to the motor
PCB Layout – Oscillator
Very close to microcontroller
No traces allowed underneath
PCB Considerations-1
High power circuitry, digital and analog subsystems are separated and placed in different sections
Bypass capacitors placed close to the microcontroller
Peripherals and connectors are oriented on the edges for easy accessibility
High current part Digital Part
Bypass Capacitors
PCB Considerations-2
One main Power and Ground system
Bulk capacitors between the power terminals
Ground and power traces run parallel
8.4v power supply runs on 150 mils power and ground traces
14.4v power supply runs on 22 mils power and ground traces
Bulk Capacitors
Power Ground
Software Design/Development Status
Complete Tested functionality of GPS, Servos, Sonar,
Atom, Motors, Micro Tested Vision tracking and the use of SIFT Prototype interfaces with Servos, Sonar, Micro Layout of all chassis parts
Incomplete Machining of all chassis parts Chassis assembly Software development Integration
Project Completion Timeline
Task Week 9
Week 10
Week 11
Week 12
Week 13
Week 14
Week 15
Week 16
Final PCBAssemble chassisMount componentsWrite vision softwareWrite drive softwareWrite sonar softwareWrite GPS softwareWrite Servo control softwareIntegrationAlgorithm expansionSystem testing
QUESTIONS/DISCUSSION
Appendix A: System Flow Chart
Appendix B: Software Gantt Chart
Number Task Resource Start End Duration %Complete
2/15 2/22 3/1 3/8 3/15 3/22 3/29 4/5 4/12 4/19 4/262/15 2/16 2/17 2/18 2/19 2/20 2/21 2/22 2/23 2/24 2/25 2/26 2/27 2/28 3/1 3/2 3/3 3/4 3/5 3/6 3/7 3/8 3/9 3/10 3/11 3/12 3/13 3/14 3/15 3/16 3/17 3/18 3/19 3/20 3/21 3/22 3/23 3/24 3/25 3/26 3/27 3/28 3/29 3/30 3/31 4/1 4/2 4/3 4/4 4/5 4/6 4/7 4/8 4/9 4/10 4/11 4/12 4/13 4/14 4/15 4/16 4/17 4/18 4/19 4/20 4/21 4/22 4/23 4/24 4/25 4/26 4/27 4/28 4/29 4/30 5/1 5/2
Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun
1 Vision 2/15/2010 4/21/2010 661.1 Test 2/15/2010 2/16/2010 2
1.1.1 Capture images 2/15/2010 2/15/2010 1 100.01.1.2 Extract SIFT features 2/15/2010 2/16/2010 2 100.01.2 Development 4/10/2010 4/21/2010 12
1.2.1 Stream video 4/10/2010 4/11/2010 21.2.2 Capture and extract target image 4/12/2010 4/13/2010 21.2.3 SIFT target image 4/14/2010 4/15/2010 21.2.4 Find target in view 4/16/2010 4/18/2010 31.2.5 Track target 4/19/2010 4/21/2010 3
2 Drive Motors 2/25/2010 3/26/2010 302.1 Test 2/25/2010 3/22/2010 26
2.1.1 Test motors 2/25/2010 2/25/2010 1 100.02.1.2 Test H-bridge 3/22/2010 3/22/2010 12.2 Development 3/23/2010 3/26/2010 4
2.2.1 Control speed 3/23/2010 3/23/2010 12.2.2 Control direction 3/24/2010 3/24/2010 12.2.3 Brakes 3/23/2010 3/23/2010 12.2.4 Heading control 3/25/2010 3/26/2010 2
3 Ultrasonic Sensors 2/22/2010 3/27/2010 343.1 Test 2/22/2010 2/22/2010 1
3.1.1 Read raw data 2/22/2010 2/22/2010 1 100.03.2 Development 3/26/2010 3/27/2010 2
3.2.1 Read and convert raw data 3/26/2010 3/26/2010 13.2.2 Set threshold distance for interrupts 3/27/2010 3/27/2010 1
4 GPS 2/22/2010 4/1/2010 394.1 Test 2/22/2010 3/27/2010 34
4.1.1 Test chips ability to acquire a lock 2/22/2010 2/22/2010 1 100.04.1.2 Test acquisition of raw data (SCI) 3/27/2010 3/27/2010 14.2 Development 3/28/2010 4/1/2010 5
4.2.1 Read and convert raw data 3/28/2010 3/29/2010 24.2.2 Calculate 3/30/2010 4/1/2010 3
4.2.2.1 Location 3/30/2010 3/30/2010 14.2.2.2 Speed 3/30/2010 3/31/2010 24.2.2.3 Direction 3/31/2010 4/1/2010 24.2.3 Save way-point 3/30/2010 3/31/2010 24.2.4 Generate heading to way-point 4/1/2010 4/1/2010 1
5 Neck Control 2/23/2010 4/9/2010 465.1 Test 2/23/2010 2/27/2010 5
5.1.1 Test servo control (over clocked) 2/23/2010 2/23/2010 1 100.05.1.2 Test servo resolution (8 and 16 bit) 2/26/2010 2/27/2010 2 50.05.2 Development 3/22/2010 4/9/2010 19
5.2.1 Control 3/22/2010 4/6/2010 165.2.1.1 Axis 3/22/2010 3/23/2010 25.2.1.2 Cartesian 3/24/2010 3/30/2010 75.2.1.3 Spherical 3/31/2010 4/6/2010 75.2.2 Speed settings 3/22/2010 3/23/2010 25.2.3 Homing 3/22/2010 3/22/2010 15.2.4 General pan control 4/7/2010 4/9/2010 35.2.5 General tilt control 4/7/2010 4/9/2010 3
6 Gripper Control 3/22/2010 3/23/2010 26.1 Test 3/22/2010 3/22/2010 1
6.1.1 Test gripper functionality 3/22/2010 3/22/2010 16.2 Development 3/23/2010 3/23/2010 1
6.2.1 Open gripper 3/23/2010 3/23/2010 16.2.2 Close gripper 3/23/2010 3/23/2010 1
7 Integration 3/28/2010 4/28/2010 327.1 Avoid obstacles 3/28/2010 3/30/2010 37.2 Go to GPS way-point 4/2/2010 4/4/2010 37.3 Pan/Tilt camera to track object 4/22/2010 4/26/2010 57.4 Rotate robot to track object 4/22/2010 4/25/2010 47.5 Grab target 4/27/2010 4/28/2010 28 Algorithms 4/5/2010 4/30/2010 26
8.1 Follow target object 4/25/2010 4/28/2010 48.2 Avoid obstacles on path 4/5/2010 4/7/2010 38.3 Search for lost target 4/27/2010 4/30/2010 49 System Testing 4/5/2010 4/29/2010 25
9.1 Identify trained target 4/22/2010 4/23/2010 2
9.2 Track moving target, while avoidingobstacles 4/26/2010 4/27/2010 2
9.3 Reach and pickup target 4/28/2010 4/29/2010 29.4 Return home 4/5/2010 4/6/2010 2
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