Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski,...

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Mars Rover Mars Rover By: By: Colin Shea Colin Shea Dan Dunn Dan Dunn Eric Spiller Eric Spiller dvisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag
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Transcript of Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski,...

Page 1: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Mars RoverMars Rover

By: By: Colin SheaColin SheaDan DunnDan Dunn

Eric SpillerEric Spiller

Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag

Page 2: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

OutlineOutline

• Project SummaryProject Summary• Review of Previous WorkReview of Previous Work• PatentsPatents• Project DescriptionProject Description• Data SheetData Sheet• Equipment and PartsEquipment and Parts• Preliminary ResearchPreliminary Research• Schedule Schedule • Division of LaborDivision of Labor

Page 3: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Project SummaryProject Summary

• The main objective is to design the Rover for long The main objective is to design the Rover for long battery life that must last 7 days without recharging. battery life that must last 7 days without recharging.

• The Rover will use PC104 to control the interface among The Rover will use PC104 to control the interface among the user and the Rover and high level software.the user and the Rover and high level software.

• It will also use the MicroPac 535 microprocessor to It will also use the MicroPac 535 microprocessor to control low level software such as the motors for motion, control low level software such as the motors for motion, the sonar system, and the battery level. the sonar system, and the battery level.

• The user will be able to enter a specific distance, move a The user will be able to enter a specific distance, move a predetermined distance, or rotate the Rover to get a predetermined distance, or rotate the Rover to get a preferred direction. preferred direction.

Page 4: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Previous WorkPrevious Work

• 20022002• Rob Shockency and Randall SatterthwaiteRob Shockency and Randall Satterthwaite• Robotic Platform Design Robotic Platform Design • EMAC 8051 and a CPLDEMAC 8051 and a CPLD• Design GoalsDesign Goals

1. Create Cheaper version of Telerobotics 20011. Create Cheaper version of Telerobotics 2001

2. Upgradeable and expandable in the future 2. Upgradeable and expandable in the future

Page 5: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

PatentsPatents

The following patents were collected from the The following patents were collected from the United States Patent and Trademark OfficeUnited States Patent and Trademark Office searchable on-line searchable on-line database using the keywords database using the keywords wirelesswireless, , network, 802.11, web, network, 802.11, web, camera, USB camera, PCMCIA,camera, USB camera, PCMCIA, and and hard diskhard disk

• 6,484,029 Apparatus and methods for adapting mobile unit 6,484,029 Apparatus and methods for adapting mobile unit

to wireless LAN to wireless LAN • 6,453,159 Multi-level encryption system for wireless 6,453,159 Multi-level encryption system for wireless

network network • 6,486,832 Direction-agile antenna system for wireless 6,486,832 Direction-agile antenna system for wireless

communications communications • 6,434,132 Wireless LAN for reestablishing wireless links 6,434,132 Wireless LAN for reestablishing wireless links

between hosts according to monitored between hosts according to monitored

Page 6: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

PatentsPatents• 5,982,807 High data rate spread spectrum transceiver and 5,982,807 High data rate spread spectrum transceiver and

associated methods associated methods• 6,005,613 Multi-mode digital camera with computer 6,005,613 Multi-mode digital camera with computer

interface using data packets interface using data packets • 6,484,308 System and method for ensuring data integrity 6,484,308 System and method for ensuring data integrity

on a removable hard drive on a removable hard drive• 6,292,863 PC card 6,292,863 PC card • 6,336,142 Methods and apparatus for downloading data 6,336,142 Methods and apparatus for downloading data

between an information processing between an information processing device and device and an external device via a wireless an external device via a wireless

communications communications technique technique

• 5,619,396 Modular PCMCIA card 5,619,396 Modular PCMCIA card • 5,231,693 Telerobotics5,231,693 Telerobotics

Page 7: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

StandardsStandards

Internet StandardsInternet Standards Most internet standards are documented in Internet Request For Most internet standards are documented in Internet Request For

Comments which are indexed at Comments which are indexed at Ohio State UniversityOhio State University. Java is . Java is trademarked by trademarked by Sun Computer SystemsSun Computer Systems. .

• RFC 791 - Internet Protocol (IP) RFC 791 - Internet Protocol (IP) • RFC 793 - Transmission Control Protocol (TCP)RFC 793 - Transmission Control Protocol (TCP)• RFC 826 - An Ethernet Address Resolution Protocol (ARP)RFC 826 - An Ethernet Address Resolution Protocol (ARP)• RFC 893 - Internet Protocol on Ethernet NetworksRFC 893 - Internet Protocol on Ethernet Networks• RFC 1866 - Hypertext Markup Language (HTML/2.0)RFC 1866 - Hypertext Markup Language (HTML/2.0)• RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0)RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0)

• USB Standard is found from USB Standard is found from USB.orgUSB.org, the document is part of a zip , the document is part of a zip file that also includes information on the newest standard USB 2.0.file that also includes information on the newest standard USB 2.0.

Page 8: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Functional DescriptionFunctional Description

• Wait modeWait mode – – • All systems are powered, except the motors. All systems are powered, except the motors. • The CPU monitors the wireless card for network activityThe CPU monitors the wireless card for network activity• The last image captured from the camera is displayed to the The last image captured from the camera is displayed to the

user.user.• Web page accessible to userWeb page accessible to user• Battery Status is monitored Battery Status is monitored

• Sleep mode –Sleep mode – • The sub-systems are powered down except for the CPU and The sub-systems are powered down except for the CPU and

the wireless network card. the wireless network card. • CPU runs in a reduced power mode. CPU runs in a reduced power mode. • Web page accessibleWeb page accessible• Battery Status is monitored. Battery Status is monitored. • Rover remains in sleep mode until signaled by the user. Rover remains in sleep mode until signaled by the user.

Page 9: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Functional DescriptionFunctional Description• Low battery mode – Low battery mode –

• Battery drops below 10% of charge Battery drops below 10% of charge • Email sent to Dr. Malinowski requesting a charge Email sent to Dr. Malinowski requesting a charge • Rover shuts down all components. Rover shuts down all components.

• Charge mode – Charge mode – • Rover continues to charge until power button is pressedRover continues to charge until power button is pressed• Stays in this mode until battery level reaches 100%Stays in this mode until battery level reaches 100%

• User mode –User mode – • All Systems poweredAll Systems powered• Distance and Direction ControlDistance and Direction Control• Web Page accessible to userWeb Page accessible to user• Image capture and displayImage capture and display• Battery Status is MonitoredBattery Status is Monitored

Page 10: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Functional DescriptionFunctional Description

Wait

Charge

Low BatterySleep

User

Low Battery

Tim

eout

Connect

Disconnect

Activity

Man

ual

Full Charge

Low Battery

Low Battery

Page 11: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

System Block DiagramSystem Block Diagram

UserComputer Internet

Embedded System

Motor Control

Wheel Sensors

Battery ChargeLevel

Camera

Control TCP/IP

Photons

AcousticSensors

Upper level softwaremicroprocessor

WirelessNetwork

card

802.11bRF signal digital bit stream

Monitor

Transm

it pulse

Object

USB Protocol

Java Applet

Image

Com

mands

Sta

tus

Ech

o pu

lse

Mouse andKeyboard

Page 12: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Software Flow ChartSoftware Flow Chart

• High Level SoftwareHigh Level Software • Rover ControlRover Control

Wait ForControlEvent

Turn byDegree

MoveForward

orBackward

Encodesignal -binary/ASCII

EnterDegreeHeading

Enterdistance

Press orHoldarrowkey

SendSignal

throughSerial Port

Page 13: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Software Flow ChartSoftware Flow Chart

• High Level SoftwareHigh Level Software • Image Retrieval/DisplayImage Retrieval/Display

Cameratakes

Picture

Image iscompresse

d to jpeg

Image isread frommemory

ImageDisplayedin applet

Delay 5sec

Page 14: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Software Flow ChartSoftware Flow Chart

• Low Level SoftwareLow Level Software• Motor Control Motor Control

Left WheelSensor

Register

Right WheelSensor

Register

Left WheelSensor

Right WheelSensor

Compare MeasuredValues

Left Motor Right Motor

Retrievecount every

.1 secs

Retrievecount every

.1 secs

Increment orDecrement Timer

Registers toregulate speed

Distance Registerfor Left Wheel

Distance Registerfor Right Wheel

Decrement DistanceTraveled from Total

Distance

Decrement DistanceTraveled from Total

Distance

Increment orDecrement Timer

Registers toregulate speed

Stop RoverEqual to

ZeroEqual to

Zero

User input, storein registers

Page 15: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Software Flow ChartSoftware Flow Chart

• Low Level SoftwareLow Level Software• Object DetectionObject Detection

Micropac 535 Acoustic SensorObject

Transmit Pulse

Echo Pulse

Measure timebetween pulses

Calculate distanceaway from object

Too close Stop rover

Safe distance

Continue moving

Page 16: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Software Flow ChartSoftware Flow Chart

• Low Level SoftwareLow Level Software• Battery Voltage LevelBattery Voltage Level

Micropac 535 A/D converter

Battery terminalvoltage

Compare to DataTable

User present

Display to userapproximate battery

charge levelCharge too low

Stop rover and switchto low charge mode

Charge G

ood

Continue operatingrover

User not present, charge good

Page 17: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Preliminary ResearchPreliminary Research

Hard drives – Hard drives – Standard IDEStandard IDE

Large power consumptionLarge power consumptionFlash CardFlash Card

Very small power consumptionVery small power consumptionNot large enough to run LinuxNot large enough to run Linux

PCMCIAPCMCIAGood power consumptionGood power consumptionLarge enough to run LinuxLarge enough to run Linux

Page 18: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Preliminary ResearchPreliminary Research

Wireless Cards –Wireless Cards –Dell TruemobileDell Truemobile

Lowest power consumptionLowest power consumptionNot compatible with LinuxNot compatible with Linux

Linksys Linksys Good power consumptionGood power consumptionCompatible with LinuxCompatible with Linux

CiscoCiscoHigher power consumptionHigher power consumptionCompatible with LinuxCompatible with Linux

Page 19: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Preliminary ResearchPreliminary ResearchComputer PlatformComputer Platform

FormatFormat PC/104PC/104 PC/104+PC/104+

SBCSBCProcessorsProcessors

Intel PIII ULVIntel PIII ULV Transmeta Crusoe ProcessorTransmeta Crusoe Processor National Semiconductor Geode ProcessorNational Semiconductor Geode Processor

Boot OptionsBoot Options Disk-on-ChipDisk-on-Chip USB USB FloppyFloppy

Expansion OptionsExpansion OptionsPCMCIAPCMCIASerial Serial

Page 20: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Preliminary ResearchPreliminary Research

Format Differences:Format Differences:

PC/104 – Based on a ISA bus expansion – supports 8bit PC/104 – Based on a ISA bus expansion – supports 8bit andand 16bit devices 16bit devices

PC/104+ Based on a PCI bus expansion – supports 16bit PC/104+ Based on a PCI bus expansion – supports 16bit and and 32bit devices 32bit devices

SBC – has no bus expansion, usuallySBC – has no bus expansion, usually

Page 21: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Preliminary ResearchPreliminary Research

Processors:Processors: Intel power Intel power

highest power in sleep mode >1.0watts highest power in sleep mode >1.0watts Transmeta Crusoe power Transmeta Crusoe power

lowest power in sleep mode <.05 Wattslowest power in sleep mode <.05 Watts National Semiconductor power National Semiconductor power

second lowest >.05Wattssecond lowest >.05Watts Speed:Speed:

Intel – 450Mhz-1.0GhzIntel – 450Mhz-1.0Ghz Transmeta 300Mhz – 700MhzTransmeta 300Mhz – 700Mhz

National Semiconductor 200Mhz – 333MhzNational Semiconductor 200Mhz – 333Mhz

Page 22: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Preliminary ResearchPreliminary Research• Battery Report:Battery Report:

• A battery with the highest amp hours and lowest A battery with the highest amp hours and lowest weight must be selected weight must be selected

• After a meeting with the project advisors, the decision After a meeting with the project advisors, the decision was made to use a 12V battery supply, primarily, the was made to use a 12V battery supply, primarily, the batteries used in the Robotic Platform Design. batteries used in the Robotic Platform Design.

• Trickle charge applies a continuous constant low Trickle charge applies a continuous constant low current to maintain charge current to maintain charge

• A deep discharge will shorten the life and partial A deep discharge will shorten the life and partial discharges will extend life. discharges will extend life.

Page 23: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Preliminary ResearchPreliminary Research

DC Motor Report:DC Motor Report:• Researched a 5V motor, but later the decision Researched a 5V motor, but later the decision

was made to use a 12V motor . was made to use a 12V motor . • Pittman motors will be used for the Mars Pittman motors will be used for the Mars

Rover. Rover. • major factor in determining which motor that major factor in determining which motor that

will be used is the value of the load current. will be used is the value of the load current.

Page 24: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Power CalculationsPower Calculations

Power Consumption for Sleep Mode:Power Consumption for Sleep Mode:PC104 computer PC104 computer .026A.026APC104 PCMCIA module PC104 PCMCIA module .07A.07APCMCIA Hard drive PCMCIA Hard drive .015A.015APCMCIA Wireless CardPCMCIA Wireless Card .009A.009AEMACEMAC .045A.045A

+ _____+ _____TotalTotal .165A.165A24hrs * 7days = 168hrs24hrs * 7days = 168hrs168hrs * .165A = 27.72 Ah @ 5V168hrs * .165A = 27.72 Ah @ 5V27.72Ah * 5V = 27.72Ah * 5V = 138.6Wh138.6WhUsing 2 - 12 Volt, 7.2Ah batteries:Using 2 - 12 Volt, 7.2Ah batteries:12V * 7.2Ah * 2 = 12V * 7.2Ah * 2 = 172.8Wh172.8Wh available available

Page 25: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Power CalculationsPower Calculations

Power Consumption for User Mode:Power Consumption for User Mode:PC104 computerPC104 computer .8A.8APC104 PCMCIA modulePC104 PCMCIA module .07A.07APCMCIA Hard drivePCMCIA Hard drive .4A.4APCMCIA Wireless CardPCMCIA Wireless Card .285A.285AEMAC EMAC .045A.045ACameraCamera .1A.1A2 Polaroid Ultrasonic 65002 Polaroid Ultrasonic 6500 .2066A .2066A

+ ______+ ______TotalTotal 1.9066A1.9066A

Page 26: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Power CalculationsPower Calculations• Pittman GM9236 motors: Pittman GM9236 motors: • Total with motorsTotal with motors 1.9066A + 16.9A * 2 = 1.9066A + 16.9A * 2 = 35.7A35.7A

• User is connected 3% of the time (or 5 hrs out of a week), then power User is connected 3% of the time (or 5 hrs out of a week), then power consumption is as follows:consumption is as follows:

• (1.9066A * 3% + .165A * 97%) * 168 * 5V= (1.9066A * 3% + .165A * 97%) * 168 * 5V= 182.48Wh182.48Wh without motors without motors• ((33.8A*12V+1.9066A*5V)*3% + .165A*97%*5V)*168hrs = ((33.8A*12V+1.9066A*5V)*3% + .165A*97%*5V)*168hrs = 2226.7Wh2226.7Wh

• With Pittman GM9X12 motors which pull 4.56A @ 12V:With Pittman GM9X12 motors which pull 4.56A @ 12V:• ((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =726.8Wh726.8Wh

• To meet the requirements to run for 7 days without a recharge using 2 – To meet the requirements to run for 7 days without a recharge using 2 – 12V @ 7.2Ah batteries, the user would only be able to run the rover for 12V @ 7.2Ah batteries, the user would only be able to run the rover for 1.5hrs a week1.5hrs a week

• ((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =179.1Wh179.1Wh

Page 27: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Data SheetData Sheet

SpecificationsSpecificationsTurning accuracy - ± 5° for an individual turn commandTurning accuracy - ± 5° for an individual turn commandDriving accuracy - ± 5cm and ± 2° for a 100cm commandDriving accuracy - ± 5cm and ± 2° for a 100cm commandCamera capture speed – 5 frames/sec @ 324x288 resolution for a Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT connection10BaseT connectionWeight – ~28lbsWeight – ~28lbsBattery life – 7 days without a recharge if user connects <= 1.5 Battery life – 7 days without a recharge if user connects <= 1.5 hours a weekhours a weekTop speed – 10cm/sTop speed – 10cm/sSpeed range – 1 cm/s to 10 cm/sSpeed range – 1 cm/s to 10 cm/sAcoustic sensors – Acoustic sensors –

Time between transmit signals – 10 secondsTime between transmit signals – 10 secondsFarthest object detection – 200cmFarthest object detection – 200cmClosest object detection – 50cmClosest object detection – 50cm

Page 28: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Data SheetData Sheet

Motors – Motors – Model number – GM9X12Model number – GM9X12Gearing – 1:65.5Gearing – 1:65.5Max current – 4.56AMax current – 4.56AVoltage – 12VVoltage – 12V

Wheel Sensors – Wheel Sensors – Output – TTLOutput – TTLPulses per revolution of shaft – 512Pulses per revolution of shaft – 512Voltage required – 5VVoltage required – 5V

Battery charge level accuracy - ± 5%Battery charge level accuracy - ± 5%Wireless protocol – 802.11bWireless protocol – 802.11bDimensions – 31.4cm x 46.4cm x 21cm (L x W x H)Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H)Battery – 2 - 12V @ 7.2Ah Battery – 2 - 12V @ 7.2Ah Wheels – 5cm x 16cm (Width x Diameter) Wheels – 5cm x 16cm (Width x Diameter)

Page 29: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Parts and Price ListParts and Price ListEquipment List for Mars Rover

Part Qty. Website Manufacturer Location of Vendor Part # Price

5 Gb PC/MCIA Harddrive 1 www.pricewatch.com Toshiba www.legendmicro.com

HDD1232CZP41002 $191.00

128 Mb RAM 1 www.pricewatch.com Infineon www.18004memory.comLG1064U/064/G3VAC $14.20

PC/MCIA Wireless Card 1 www.pricewatch.com Logictech www.legendmicro.com DL1150 $69.00

USB Webcam 1 www.pricewatch.com Logictech www.enpc.com 961137-0403 $16.00

PC104+ 200MHz w/ USB 1 www.square1industri

es.comNational Semi www.square1industries.co

mCM-589 $399.00

Dual PC/MCIA Adaptor 1      

Pittman DC Motor #9236 2 Bradley OwnedBradley Owned Pittman www.pittmannet.com    

12V 35Ah Battery 1 www.batterymart.com   www.batterymart.com SLA-12V35 $42.95

6V 42Ah Battery 1 www.batterymart.com   www.batterymart.com SLA-6V42 $39.95

The Energy Conservation Laboratory and Acoustic Laboratory Room will be used to construct the project.   $772.10

Page 30: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Laboratory Week Project Milestones

19-Jan-03 Assemble PC104 and interface with previous Robotic Platform Design project.

26-Jan-03 Create boot software for Linux.

  Install drivers for all components in Linux.

2-Feb-03 Develop and test motor control software on Micropac 535.

  Develop software to interpret wheel sensor bit streams.

9-Feb-03 Continue working on software development for motor control and feedback loop.

16-Feb-03 Develop software to capture image from camera and send to user.

  Continue working on software development for motor control and feedback loop.

  Work on web server development.

23-Feb-03 Create Java applet for user interface.

2-Mar-03 Continue with Java applet

  Work on software to estimate battery charge level.

9-Mar-03 Finish working on software to estimate battery charge level

16-Mar-03 Spring Break

23-Mar-03 Develop software to operate acoustic sensors

30-Mar-03 Finish Java applet.

6-Apr-03 Testing of individual components and overall system.

13-Apr-03 Testing of individual components and overall system.

20-Apr-03 Preparation for presentation and final report

27-Apr-03 Presentation

Page 31: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Division of LaborDivision of Labor

Dan DunnDan Dunn Colin SheaColin Shea Eric SpillerEric Spiller

Assembly CodeAssembly Code JavaJava HardwareHardware

- Motor Speed - Motor Speed - Image Capture- Image Capture - DC Motors- DC Motors

- Wheel Sensors- Wheel Sensors - Rover Controls- Rover Controls - Platform Construction- Platform Construction

- Battery Charge Level- Battery Charge Level - Serial Communication- Serial Communication - H-bridge/Motor Driver - H-bridge/Motor Driver

-Serial Connection-Serial Connection

-Acoustics Sensors-Acoustics Sensors

LinuxLinux LinuxLinux LinuxLinux

Page 32: Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag.

Questions and AnswersQuestions and Answers