GROUP 9 Final Presentation
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Phong Le (EE)Josh Haley (CPE)
Brandon Reeves (EE)Jerard Jose (EE)
Sponsor: WCF
Mentor: Ryan Reis (Lockheed Martin)
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Scan terrain based on start to end autonomous route
Detection of IED
Notify and pinpoint location of detection
Avoid any obstacles encountered on route
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Use of IED has increased since the Vietnam War
Low Budget spending on platforms used for
detecting IEDs
Technology improves but yet death by IED
increases
More creative ways of utilizing IEDs
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Knight Sweeper will be able to operate in
autonomous and manual mode.
During autonomous mode Knight Sweeper will beable to navigate itself from a start to end point
During the autonomous operation Knight Sweeper
will be able to avoid any IED or obstacle within its
path
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Component Parameter Design Specification
Battery Operational time 1 hours
IED Detection Range 3 centimeters
Wireless module Minimum range 50 meters
GPS Accuracy 1 meters
GPS Update time 1 second
Compass Accuracy One cardinal direction
Motors Speed 2 miles per hour
Obstacle Avoidance Minimum distance 16 inches
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Power
Data
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Identify type, size, wheels and motors.
A New Design
Use an existing design
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Carry maximum payload of 5 lbs. Able to place sensors forward facing and
down. Capability to traverse different terrain types,
i.e. dirt, grass, sand etc.
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Chassis Length is 9.75 Width is 8 Height is 3.5
Lexan Panels
Wheels Diameter is 4.75 Width is 2.375 Rubber Tires
Output Shaft is 6 mm
Additional levels can be added ifnecessary
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Brushed DC Motor Type Allows for Pulse Width Modulation Control
Fits the A4WD1 chassis
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Identify how the vehicle will move.
Determine algorithm for obstacles.
Determine algorithm for detected IED.
Verify motor controller functionality.
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H-Bridge configuration
Forward
Reverse
Brake
Clockwise Rotation
Counterclockwise Rotation
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Inputs FunctionEnable = H C = H; D = L Forward
C = L; D = H Reverse
C = D Fast Motor Stop
Enable = L C = X; D = X Free RunningMotor Stop
L = Low H = High X = Dont Care
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Beat Frequency Oscillation
Two separate coils oscillator and a search coil
Oscillator creates a constant signal at a set frequency
Detection of metal by search coil creates a magnetic field
Magnetic field interferes with radio frequency, offset in frequencythen creates an audible beat
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Metallic detection done by detecting variation in high
frequencies
Output signal determined by supply current changes
Current is high or low depending on the presence of a
close metallic object
Output Current 10mA
Oscillator Frequency10MHZ
Supply Voltage 4-35V
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Two external circuits to implement two TDA0161 ICs.
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When the search coils detect metallic objects pin 6
outputs 1v
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Two search coils needed to
cover the width of the vehicle
Each coil made with magnetwire
Both coils set at about 155 uH
Fixture to extend the coils infront of the actual vehicle
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Old PCBs found in the lab will
be used to simulate IEDs
Copper is easily picked up bythe search coils
FREE
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One Maxbotix LV-
MaxSonar-EZ0 High
Performance Module
mounted on front Detection Range 6-245
w/ 45 degree beam
width
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Use of three pins GND (Ground)
Vcc (+5 V)
Analog Pin (Output)
Analog Pin Outputs a voltage proportional to the
distance Range Formula : Vm/Vi=Ri
Vm = Measured Voltage, Vi = Volts per inch(scaling factor of 9.76mV), Ri = Range.
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Option Number Name Resolution Interface Current Consu-mption
Cost Link1 LinkSprite JPEG
Color Camera
TTL Interface
160x120 TTL UART 80-100mA $49.95 http://www.spar
kfun.com/produ
cts/10061
2 CMOS Camera -
640x480
640x480 I2C Not Given $9.95 http://www.spar
kfun.com/produ
cts/8667
3 4D Systems
microCAM
Serial JPEG
Camera Module
- TTL
80x60,
160x120,
320x240,
640x480
TTL UART 62mA $59.00 http://www.robo
tshop.com/produ
ctinfo.aspx?pc=
RB-Fds-
15&lang=en-US
4 TTL SerialJPEG Camerawith NTSC
Video
160x120,320x240,640x480
TTL UART 75mA $42.00 https://www.adafruit.com/products/397
http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061http://www.sparkfun.com/products/10061 -
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Extras
Manually Adjustable Focus
Auto white balance Auto brightness
Auto contrast
Motion detection Multiple Resolutions
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Pro Gin SR-92
Update time: 1 second
Baud rate 9600 bps
3.3V Required
40 mA continuous tracking mode
5 Pin interface
Send data over serial
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LSM303DLH
Supply voltage of 2.5-3.3V
16 bit data out
Serial interface
3 magnetic field and 3accelerometer channels
Sleep-to-wake up mode
Current consumption of (3uA-83mA)
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XBee-PRO
Range of 300m indoor
Range of 1500m outdoor
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Stellaris M3 8962 Dev board.
Stellaris offers high computational power at 62.5 MIPS.
Offers 64K of RAM
Important for the A* algorithm
Interrupt Driven
Abundance of code examples and libraries 74HC4052 Analog MUX for UART multiplexing
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Integrated Power Supply 14.8 VDC
DC motors
IED Detection 5 VDC
Stellaris Microcontroller
Serial Camera
Obstacle Avoidance
3.3 VDC GPS Navigation
Wireless
Compass
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MCU
IED
Detection
GPS Compass SerialCamera
DC Motors
Obstacle
Avoidance5V Reg
3.3V
Reg
Wireles
14.8V
14.8V
5V
3.3V
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Tenergy Lithium Polymer Battery 14.8V at 5500 mAh
Reasons for choosing
High energy density (Wh/kg)
High energy/dollar (Wh/$)
High charge efficiency (80-90%)
Low self-discharge
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Linear Regulators Easy to implement Heat sink usually required
~50% efficient Clean voltage
Switching Regulators
Up to 88% efficient Requires more components Reduction in size of Heat sink needed Sawtooth ripple voltage at the switching frequency
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Texas Instruments TL2575Family (3.3V ,5V, 12V, and
adjustable.
Up To 88% Efficient(about 1V goes to heat)
Apply a small LC filter to
reduce output ripple by a
factor of 10.
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MCU
IED
Detection
GPS Compass SerialCamera
DC Motors
Obstacle
Avoidance5V Reg
3.3V
Reg
Wireles
14.8V
14.8V
5V
3.3V
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PC Software Operator Interface Allows for control
Display of robot status
Wireless
Embedded Software Initialize Systems
Interrupt Driven Obstacleand IED detection
Autonomous Navigation
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Written In java Displays current
location Command Modes
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Layered Approach via Xbee wireless
Application Layer
UART Layer
Xbee Wireless
Application Layer
UART Layer
Xbee Wireless
PC SoftwareEmbeddedSoftware
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C++ via Code Composer Each hardware system has a class
Utilizes Stellaris Ware Libraries
4 Modes
StandbyAuton-omous
Manual Error
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Not Depicted: 1Hz Telemetry Message No Valid Path
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Problem: Quickest Way from
A to B avoiding all known
obstacles and suspected
IEDs
Use the A* algorithm to find
the shortest path
Upon IED/Obstacledetection, remove location
from the search path and run
A* again!
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Creative Commons License3.0 from Wikipedia
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void initchip()void PCSerialISR()
void processRXmessage()Void send1HzTM()
Void navigate()Void runNextMove()
Int main()
Main
Void initPCSerial()int sendMessage(char*
buff, int num)Bool getMessage()
PCserial
void init()Int getStatus()
returnLocation()
GPSvoid init()void getPicture(unsigned
char* returnPointer)
SerialCamera
void init()Float getReading()
void IEDISR()
IEDDetection
void init()Float getReading()void ObstacleISR()
ObstacleDetection
void initDisplay()void dispSplash()void clrScreen();
Void printLn(char*string);
OLED
void init()void getHeading()
Compass bool validMessage()Bool setChecksum()
Int getPayload(unsigned char*
returnDatapointer)
Bool setPayload(messageType,
char* ipayload, int
payloadLength)
Int getLength()
Int getRawMessageData()
MessagePacket
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Completed Motor controller Power Regulation Wireless Communication
Manual Control
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Knight Sweeper test
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Using Eagle 6.1.0
2 PCBs will be made Power Regulation and Motor Control
Sensors, camera, GPS and wireless
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Top Layer Bottom Layer
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Top Layer Bottom Layer
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Motor Control and Power
Sensors
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Phong Le
IED Detection
Project Management Josh Haley
GPS
Serial Camera
Main Board
Lead Software Engineer Brandon Reeves
Obstacle Avoidance
Power Systems Lead Jerard Jose
Motor control lead
Platform Selection
PCB Fabrication Lead
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-GPS Accuracy
Camera
-IED Detection range
-Noise from Various Components
-Deviation between internal map and realworld.
-INDUCTORS!!!!
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QUESTIONS?