Transcript Home Care Robot - Simon Fraser University

PRAlpha Inc.
Rick Wong (CEO), Jessica Sun (CFO), Ye Feng (CTO)
Simon Fraser University, ENSC 305/440, May 2008
Our Team
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Team Roles

Rick Wong (CEO)
High level design, Hardware/firmware design

Feng Ye (CTO)
PC design, Marketing

Jessica Sun (CFO)
Hardware/firmware design, Budgeting

Common Role
R&D, Software design, Documentation, Q/A
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Outline
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Our Team
Motivation & Marketability
System Overview & High Level Design
Implementation & Functionality
Sub-module Highlights
System Review
Financial & Scheduling
Future Development
Final Thoughts
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Motivation

Worry about your house, pets and plants when
you are away?

Want to use the device in your house remotely?

Want to protect your privacy?
Our Solution is :
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Marketability

Potential Market
 Families having trip for a long period
 Old and Handicaps
 Doctors and nurses

Marketing Skill
 Rentable
 On-site checking as backup
 Potentially decrease insurance fee
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System Overview
Control ICR
protocol device
Internet
Wireless Network
Monitor house
temperature
Monitor house
situation
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Functionality
Mobility
 Real time video
 Sensor feedback
 Remote control

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Design Consideration

Major focus on Extension Ability

Reliability (reset modules remotely)

Safety (safe power and distance sensor)

User friendly (cross-platform, no install)
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Overall System
Remote
Web GUI
Browser
User
Internet
Daemon
Pico
Camera
UART
On Board
CMM
I2C BUS
DBM
UDM
ACK
SCM
ACM
Results
ADC
SPI
CTC
PWM
Ultrasonic
LCD
IR
Temperature
Distance
Motors
Off Board
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Communication

UART
 Communicate between PC and CMM with 9600 bps rate
 Not good for a multi-master system
 I2C
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Use to build our BUS to communicate between modules
Use only two bi-direction BUS line: SDA and SCL
Multi-masters with BUS conflict solution
Support up to 127 devices
SPI
 Communicate between DBM and LCD
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Sub-Module Highlights

On Board Sub-Module
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CMM (Center Manager Module)
UDM (User Define Module)
SCM (Sensor Control Module)
ACM (Action Control Module)
Off Board Sub-Module
 DBM (Debug Module)

PC
 Daemon
 GUI (Graphic User Interface)
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CMM

Interface with PC via UART

Communicate with sub-modules via I2C

Reset sub-modules upon request

DTAC: Dynamitic TWI Address
Configuration (with pre-defined priority)

Plug-In-Play support
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UDM

Response user input commands and
transmit them via infrared protocol

Support up to 32 bit codec protocol

User modifiable
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UDM

The IR LED we use to broadcast a series
of beam bursts is: LNA2603F-ND
 High-power output: Po=6mW
 Operating range: 160 degree

Implementation
 Use Output Comparator and
Interrupt to generate CTC wave
 Wave diagram
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ACM

Receive commands from I2C BUS

Control motor
 Use Output Comparator to generate PWM wave

Including:
 Motors
 Power supply (battery)
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Motor

Servo motor
motor
Stepper motor
DC
 Why we choose DC motor

Motor drive, we choose TB6549PG
 Output current is high enough: 3.5A
 With Full-Bridge
 Four function modes
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DBM

Plug-In-Play

Control LCD with SPI

Display ERR and extra information
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SCM

When received request, periodically
collect required data from sensors and
report them to CMM

Available Sensors:
 Temperature Sensor
 Distance Sensor
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Temperature Sensor

The temperature sensor we use is :
LM335AZ
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
Temperature range: -40oC~100oC
Accuracy: ±1oC
Output: Analog
Output voltage temperature coefficient: 10mV/oC
Implementation
 Use Analog-to-Digital Converter (ADC) on Atmega168
 ADC = VIN*1024/VREF
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Block Sensor

The block sensor we choose is: SRF05
ultrasonic sensor
 Detection Range: 2cm~3m
 Accuracy: ±1cm
 How it works

Implementation
 Use Input Capture
and Timer/Counter
Interrupt features of
Atmega168
 Wave diagram
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Power Supply

Power supply considerations

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
Stable
Last long
Safety
Charge
Li-ion
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Eneloop (Sanyo)
Similar long storage capacity and high output current
No memory effect
Very safe to handle
Very Small self-discharge rate (15% over a year)
Recyclable and environmental friendly
Economic
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PC

Main board
 X86 PC system on 10cmx7.2cm Pico-ITX board
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PC

Control Daemon
 Management interface between GUI and robot hardware
 Tool of debugging and testing
 Tool of logging

Video Stream Sever - FFServer
 Live web cam video feeding
 Fast streaming in Flash video format

HTTP server for web start
 Simple way to run the GUI client anywhere
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GUI

Communicate with robot via Internet

Web start without installation

Cross-Platform

User defined buttons
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GUI
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PCB

We made PCB by own hands !

Why we choose PCB:
 Breadboard: connection is unreliable, waste space, high
weight
 Prototype: waste time and space
 PCB: minimal space, less weight, more reliable, massproducible
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Main Board PCB
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Chassis Design

Modify tank toy base significantly

Tank belts: overcome tough surface
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Budgeting
Items
PC
Chips
Estimated Cost
Actual Cost
$646.06
$90.90
Sensors
$250.00
Chassis & Motor
$113.22
Power Supply
$200.00
PCB
--
Development Fee
--
Miscellaneous
Shipping & Handling Fee
Unpredictable
Total
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$1078.53 ESSEF:
$143.97 $680
$152.33 School of
$92.48 Engineering
Science:
$374.02
$50 per
$152.86 group
$244.97
$50.00
$316.99
--
$129.74
%15
--
$1553.86
$2685.71
ENSC 305/440 Project
Revenues
$730
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Unit Cost
Category
PC
Sensors
Items
Sub Cost Category Cost
Pico-ITX Mainboard
$258.72
RAM, USB drive, Wireless adapter, etc
$81.72
Ultrasonic Sensor
$41.84
Temperature Sensor
$1.88
$340.44
$94.11
USB Camera
$50.39
Chassis
Tank base,Project box & Servo motor, etc
$73.88
$73.88
Chips
Microcontroller, Motor driver, etc
$26.71
$26.71
PCB
Presensitized PCB, Components,etc
$45.80
$45.80
Eneloop Batteries
$50.80
Battery Charger
$39.95
PC Power Supply
$24.99
Power
Supply
Total
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$696.69
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$115.74
$696.69
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Scheduling
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Final Thoughts
Delay Reasons
 Problems and Solutions
 What We Learned
 Team Organization

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Delay Reasons

The First Extension
 Scheduled Deadline: Mid April, 2008
 Delay Reason: Gear
 Improvements: added DBM, change power supply
solution

The Second Extension
 Scheduled Deadline: May 20, 2008
 Delay Reason: Mainboard
 Improvements: use USB instead of hard drive, found
better charger solution, improved video quality
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Problems and Solutions
I2C Bus
 IR Control
 DBM
 SCM – Reference Voltage
 USB port and Wireless Adapter
 Video Stream

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What We Learned

Software
AVR Studio, ICCAVR, Protus, Altium Designer,
Eclipse, Codeblocks
We wrote totally around 10,000 commands
including C, C++, Java, HTML and Assembly !

Hardware
Real time embedded system, Sensors, Motors,
Power supply, PCB, Remote controller, PC,
Wireless solution
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What We Learned

Our improvement is obviously (PCB for
example)
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Team Organization
We use CVS version control system: RapidSVN
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Team Organization
We have team webpage and BBS: http://PRAlpha.info
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Conclusion

Met functional and design requirements

Gain various experience

Performed excellent teamwork
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Future Development







IR commands self-learning
Audio Stream
Step motor with feedback
Smaller IC packaging
Microcontroller wireless controlling
Self positioning
Charging base
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Information Sources

Atmel Corporation (Microcontrollers)
http://atmel.com/

Mini-Box (PC power supply)
http://www.mini-box.com/

Digi-Key Corporation (electronics parts)
http://digikey.ca/

Lee’s Electronic (electronics parts)
http://www.leeselectronic.com/

RP Electronics (electronics parts)
http://www.rpelectronics.com/
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Acknowledgements
Patrick Leung
 Steve Whitmore
 Brad Oldham
 Jason Lee
 ESSEF
 All the people who concerned about our
project

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Low Level System Details
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Main board Schematics (1)
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Main board Schematics (2)
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DBM Schematics
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DBM PCB
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ACM Schematics
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ACM PCB
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IR LED Viewing Angle
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Detailed Product Cost
Items
Unit Currency
Unit Price
Cost(with tax)
Cost Type
Purchase From
Purchase Date
Category
2008-5-26
PC
PX10000G/VIA EPIA PX10000G Pico-ITX Mainboard
1
USD
$231.000
$258.72
Price
Logic Supply
DDR2 SO-DIMM 1GB RAM
1
CAD
$24.990
$27.99
Price
NCIX
PC
USB flash drive 2 GB
1
CAD
$12.990
$14.55
Price
NCIX
PC
USB weeirless adapter
1
CAD
$14.990
$16.79
Price
Ebay
PC
USB Hub
1
CAD
$19.990
$22.39
Price
Ebay
PC
Devantech Ultrasonic Range Finder SRF05
1
CAD
$37.360
$41.84
Price
Robot Shop
2008-5-19
Sensor
LM335AZNS-ND/IC SENSOR PRECISION TEMP TO-92
1
CAD
$1.680
$1.88
Price
Digi-Key
2008-5-10
Sensor
USB Camera
1
CAD
$44.990
$50.39
Price
Tank base
1
USD
$34.990
$39.19
Price
Ebay
Chassis
Project box
1
CAD
$9.100
$10.19
Price
Active123
Chassis
900-00008/Servo-Continuous Rotation-S35
1
USD
$12.950
$14.50
Price
Parallax
Miscellaneous
1
CAD
$10.000
$10.00
TB6549PG-ND/IC DRIVER FULL BRIDGE 16DIP
2
CAD
$4.060
$9.09
Price
Digi-Key
2008-5-19
MCU
ATMEGA168-20PU-ND/IC AVR MCU 16K 20MHZ 28DIP
5
CAD
$2.951
$16.52
Price
Digi-Key
2008-1-14
MCU
296-6940-5-ND/IC DUAL EIA-232 DRVR/RCVR 16-DIP
1
CAD
$0.970
$1.09
Price
Digi-Key
2008-4-27
MCU
Presensitized PCB Single Sided 1/16"
1
CAD
$7.990
$8.95
Price
Active123
2008-5-2
PCB
Presensitized PCB Double Sided 100x150x1.6mm
1
CAD
$10.300
$11.54
Price
Active123
2008-5-2
PCB
STPBRD2/Stripboard - Small
5
USD
$0.950
$5.32
Price
Futurlec
2008-4-16
PCB
Miscellaneous
1
CAD
$20.000
$20.00
22
CAD
$2.062
$50.80
Price
Costco
2008-3-24
Power
PicoPSU-80 80W DC-DC Mini ITX 12V Tiny Power Supply
1
USD
$39.950
$39.95
Price
short-circuit.com
2006-11-23
Power
Smart Universal Battery Pack Charger:12V - 16.8V
1
USA
$24.990
$24.99
Price
all-battery
2008-5-X
Power
Eneloop Batteries
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Sensor
2007-7-24
Chassis
Components
Components
52
Questions
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