Transcript Mars Rover

Mars Rover
By:
Colin Shea
Dan Dunn
Eric Spiller
Advisors: Dr. Huggins, Dr. Malinowski
Outline
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Project Summary
Review of Previous Work
Division of Labor
Project Description
Data Sheet
Equipment and Parts
Design Changes
Schedule
Progress Update
Project Summary
The main objective is to design the Rover for long battery life
that must last 7 days without recharging.
The Rover will use PC104 to control the interface among the
user and the Rover and high level software.
It will also use the MicroPac 535 microprocessor to control
low level software such as the motors for motion, the sonar
system, and the battery level.
The user will be able to enter a specific distance, move the
Rover using the keypad, or rotate the Rover to get a preferred
direction.
Previous Work
• 2002
• Rob Shockency and Randall Satterthwaite
• Robotic Platform Design
• EMAC 8051 and a CPLD
• Design Goals
1. Create Cheaper version of Telerobotics 2001
2. Upgradeable and expandable in the future
Division of Labor
Dan Dunn
Assembly Code
- Motor Speed
- Wheel Sensors
- Battery Charge Level
- Serial Communication
- Acoustics Sensors
Colin Shea
Java/Server
- Image Capture
- Rover Controls
- Serial Communication
Eric Spiller
Hardware
- DC Motors
- Platform Construction
- H-bridge/Motor Driver
- Battery Charger
Functional Description
• Wait mode –
All systems are powered, except the motors.
The CPU monitors the wireless card for network activity
The last image captured from the camera is displayed to the
user.
Web page accessible to user
Battery Status is monitored
• Sleep mode –
• The sub-systems are powered down except for the CPU and
the wireless network card.
• CPU runs in a reduced power mode.
• Web page accessible
• Battery Status is monitored.
• Rover remains in sleep mode until signaled by the user.
Functional Description
• Low battery mode –
Battery drops below 10% of charge
Email sent to Dr. Malinowski requesting a charge
Rover shuts down all components.
• Charge mode –
Rover continues to charge until power button is pressed
Stays in this mode until battery level reaches 100%
• User mode –
• All Systems powered
• Distance and Direction Control
• Web Page accessible to user
• Image capture and display
• Battery Status is Monitored
Functional Description
User
Charge
Full Charge
Low Battery
Timeout
Wait
Manual
Disconnect
Connect
Sleep
Low Battery
Activity
Low Battery
Low Battery
System Block Diagram
User
Computer
Java Applet
Internet
Control TCP/IP
Upper level software
microprocessor
Camera
USB Protocol
Battery Charge
Level
Vo
lta
ge
Embedded System
M
PW na l
S ig
Motor Control
Sig
nal
Acoustic
Sensors
Transmit pulse
Wheel Sensors
TTL
Echo pulse
Photons
Commands
Status
Monitor
Bit Stream
Mouse and
Keyboard
Wireless
Network
card
digital bit stream
802.11b
RF signal
Image
Object
Software Flow Chart
• High Level Software
• Rover Control
Software Flow Chart
• High Level Software
• Image Retrieval/Display
Software Flow Chart
• Low Level Software
• Motor Control
Software Flow Chart
• Low Level Software
• Object Detection
Software Flow Chart
• Low Level Software
• Battery Voltage Level
Battery terminal
voltage
Micropac 535
Compare to Data
Table
A/D converter
n
ha
Charge too low
rg e
Display to user
approximate battery
charge level
Charge Good
Continue operating
rover
User not present, charge good
Stop rover and switch
to low charge mode
er
t, c
User present
Us
n
se
p re
ot low
Data Sheet
Specifications
Turning accuracy - ± 5° for an individual turn command
Turning resolution - 15°
Driving accuracy - ± 5cm and ± 2° for a 100cm command
Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT
connection
Weight – ~28lbs
Battery life – 7 days without a recharge
Top speed – 10cm/s
Acoustic sensors –
Time between transmit signals – 1 second
Farthest object detection – 200cm
Closest object detection – 50cm
Data Sheet
Motors –
Model number – GM9X12
Gearing – 1:65.5
Max current – 4.56A
Voltage – 12V
Wheel Sensors –
Output – TTL
Pulses per revolution of shaft – 512
Voltage required – 5V
Battery charge level accuracy - ± 5%
Wireless protocol – 802.11b
Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H)
Battery – 2 X 12V @ 7.2Ah
Wheels – 5cm x 16cm (Width x Diameter)
Data Sheet
PC104 –
Max Current, during bootup – 1.5A
Normal operating current – .8A
Sleep mode current – .026A
Processor – National Semiconductor Geode Processor @ 300MHz
RAM – 128MB
Video – Onboard Video card
PCMCIA module –
Current - .07A
Wireless Card –
Linksys WPC11
Max Current - .3A
Current in Sleep mode - .02A
Hard Drive –
IBM Travelstar 2.5 inch IDE hard drive, 10GB
Max Current - .94A (Spin-up Current)
Current in Sleep Mode - .02A
Camera –
Logitech USB Webcam
Max Current - .1A
Power Calculations
Power Consumption for Sleep Mode:
PC104 computer
PC104 PCMCIA module
IDE Laptop Hard drive
PCMCIA Wireless Card
EMAC
.026A
.07A
.015A
.009A
.045A
+ _____
.165A
Total
24hrs * 7days = 168hrs
168hrs * .165A = 27.72 Ah @ 5V
27.72Ah * 5V = 138.6Wh
Using 2 - 12 Volt, 7.2Ah batteries:
12V * 7.2Ah * 3 = 259.2 Wh available
Power Calculations
Power Consumption for User Mode:
PC104 computer
.8A
PC104 PCMCIA module
.07A
IDE Laptop Hard drive
.4A
PCMCIA Wireless Card
.285A
EMAC
.045A
Camera
.1A
2 Polaroid Ultrasonic 6500
.2066A
Total
+ ______
1.9066A
Power Calculations
The motors chosen by the Robotic Platform Design
project were Pittman GM9236, which pull 2A per motor.
Total with motors 1.9066A + 2A * 2 = 5.91A
If we assume that user is connected 1.3% (or 2.1 hrs out
of a week) of the time, then power consumption is as
follows: 36.5Ah * 5V = 182.48Wh required
[(4A * 12V + 1.9066A * 5V) * 1.3% + (.165A *5V)*
98.7%]*168hrs=259.2Wh required
Parts and Price List
Equipment List for Mars Rover
Part
10 Gb
128 Mb RAM
PC/MCIA Wireless
Card
USB Webcam
PC104 300MHz w/
USB
Dual PC/MCIA
Adaptor
Pittman DC Motor
#9236
Qty
Website
1
www.pricewatch
.com
1
www.pricewatch
.com
Manufacturer
Location of Vendor
Part #
Price
IBM
www.basoncompu
ter.com
Infineon
www.18004memo
ry.com
LG1064U/064/G
3VAC
$14.20
1
www.pricewatch
.com
Logictech
www.legendmicro.
com
DL1150
$69.00
1
www.pricewatch
.com
Logictech
www.enpc.com
961137-0403
$16.00
1
www.square1in
dustries.com
National Semi
www.square1indu
stries.com
CM-588
National Semi
www.square1indu
stries.com
NC-893
www.square1in
dustries.com
1
2
$80.00
$399.00
$94.00
Bradley Owned
Pittman
www.pittmannet.c
om
$672.20
Design Changes
Replaced Linux based operating system
with Windows based operating system


Video Card was incompatible with Linux although manufacturer
stated the card was compatible
Linux operating system was not stable on PC-104 board
Design Changes
Flash Memory Card and PCMCIA Hard
drive replaced by Laptop Hard drive



Flash Memory Card was not capable of booting the PC-104 at
start-up
PCMCIA Hard drive was not visible by computer until system
completed start-up sequence
Laptop Hard drive booted easier and still remained low power
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
Progress Flow Chart
User
Computer
Java Applet
Wireless
Network
card
digital bit stream
802.11b
RF signal
Image
Internet
Control TCP/IP
USB Protocol
Camera
Commands
Status
PC104
Upper level software
Battery Charge
Level
lta
Vo
ge
MicroPac 535
Embedded System
Acoustic
Sensors
Echo pulse
Wheel Sensors
Sig
nal
Transmit pulse
Green = Developed
Red = Partially Developed
H-Bridge
TTL
Bit Stream
Motor
M
PW
l
na
Sig
Object
Progress Update
Second Semester
Date
Progress Description
Installed Linux Red Hat 8.0 onto an older Pentium 166 computer.
1/19/03 to 1/25/03
Waited to get the PC104 board and modules.
Attempted to install Linux on the PC104 board using the PCMCIA hard drive as the main hard drive.
1/26/03 to 2/1/03
Linux never recognized the drive, so we decided to use a 2.5 inch IDE hard drive.
Attempted to install Linux on the 2.5 inch hard drive.
Linux would install and boot, but not run.
After many hours of installing and adjusting configurations for Linux, we discovered that Linux was
incompatible with Geode processors.
2/2/03 to 2/8/03
We decided to use Windows 2000 instead, because of stability and compatibility.
After establishing a stable platform to work with, we began to add the peripherals and necessary software.
2/9/03 to 2/15/03
Setup servers at http://webrover.bradley.edu and at http://webrover.bradley.edu:8080
Tested serial communication between a windows based computer and the Micropac 535.
2/16/03 to 2/22/03
Tested H-bridge design with Pittman DC motor.
Continued testing serial communication between a windows based computer and the Micropac 535.
Tested PWM signal from MicroPac 535 to generate signal for H-bride operation.
2/23/03 to 3/01/03
Tested H-bridge design mounted on circuit boards with 30V Pittman DC motor and later with PWM signal
from MicroPac 535.
3/02/03 to 3/08/03
Reconstruct Rover and Presentation
3/09/03 to 3/15/03
Continued constructing Rover, established moving routines, and developed user interface.
3/23/03 to 3/29/03
Continued testing Rover
3/30/03 to 4/5/03
Tested mobility of the Rover
Questions and Answers