Transcript Aziz Albander Matt Certosimo Albert Como Vincent Din Lex Telischak Tyler Troup Overview Design of a semiautonomous robot  Transmits video feed back to user  Drops relay.

Aziz Albander
Matt Certosimo
Albert Como
Vincent Din
Lex Telischak
Tyler Troup
Overview
Design of a semiautonomous robot
 Transmits video feed back to user
 Drops relay module for extended range
 Utilizes laser range finder to navigate
unobstructed return path
 Pre-constructed robot chassis

Objectives
Implement remote control
 Equip rover with laser range finder:

 Object Detection
 Path finding
1500mW, 2.4GHz video transmission
 Top roving speed at least 2mph
 640x480 video resolution
 Hopeful for 100m navigation range

Design Goals
Module
Low
Medium
High
Power
Buy TI Chips/ etch
PCB
TI Controller chips;
design converters
Design all controllers
and converters
Sensing
Stereoscopic
camera vision
Single Laser and
Camera
Line laser
Image
Processing
Stereoscopic
camera vision
Obtain distance and
angle from single laser
Obtain distance and
angle from line laser
Board Layout
Etch analog
control circuit
Print digital control
circuit
Dual core processors on
one board
Motors
Elbow grease
Servo Motor moving
sensor
Servo motor moving
sensor 2 dimensions
µproccessing
RC Analog
ARM or FPGA to
perform digital
decoding/processing
ARM and FPGA to
increase processing
power and store
location/mapping
Booster
None
Increase operating
range from user
Multiple boosters
Collision
Sensing
None
Bumper/Ultrasonic
None
Power Supply
Power Supply
The goal of the power supply system is
to provide all the loads with necessary
power level
 Batteries and separate control circuits
will be used for each subsystem
 We are still undecided if we want to
design and build converters or if we are
going to buy power management chips
from TI

At low level:
 Buying a DC/DC convertor to divide
the power through out the circuit
 Getting all the devices on an etched
circuit board
At medium level:
Buying the controller and design the
buck DC/DC convertor
At high level:
Design the controllers that control the
power on the circuit and design the
convertors to divide the power
throughout the system
Robot Power Supply
Driver Motor
Controllers
DC motors with
brass brushes
and 75:1 steel
gearboxes
Processor
DC Batteries
Sensors
Motor
Controllers
Motor for
Camera
Receiving
Sensory
Processing
Data
Storage
Transmitting
Motors
Transmit
Receive
Receive
Transmit
Transmit
Receive
ROBOT
BOOSTER
High-level System
Block Diagram
USER
Distance Sensing
Laser Range Finder Theory
But what is “tan θ” ?
(1)
Finding The Angle
To find the angle used in the distance equation a few
things may be needed:
What pixel is the brightest on the camera?
How far is that pixel from the horizon?
How many radians per pixel pitch?
(1)
Number of pixels can be counted from the center of the focal plane
The other parameters will be found by calibration table:
(1)
(1)
Beam Shaping with Cylindrical
Lenses

Spreading the beam horizontally will
allow for more distances to be
calculated at a time
(2)
Beam Shaping

Can be done with a cylinder of water
A different Range finding option
(3)
Professor Siewert’s description of machine vision in his real-time imbedded systems boo
Uses two cameras
Still finds distance
Cons:
Pro:
Computationally more intensive
More support available if we get stuck
Image Processing Options


Brightest pixel
Single distance


Line of bright pixels
Multitude of
distances
Math
Laser
Fix focal length
Measure beam diameter
Determine beam spread in 1 dimension
Determine
Board Layout
Board Layout Goal – Low


We plan on etching
our own analog
control circuits for
the motors
Kits are available
from Jameco.com
that allow us to etch
at least 5 circuits for
under 45$
(4)
Board Layout Goal – Medium + High
(5)



We plan on utilizing
Altium to layout a
digital control circuit
Then our designs
will be sent to
Advanced Circuits in
Aurora to generate a
PCB
For our high level
goal we plan on
printing multiple
processors on one
board
(6)
Motors
Motors - Low


No motors
Manual control
Motors - Medium


Use of single servo
motor
Horizontal Direction
Motors – High



Use of dual servo
motors
Horizontal and
vertical directions
Implementation
 Motors connected
Processing
Processing – the Possibilities
FPGA Cyclone II
(7)
We may even use a
combination of the two types
ARM Cortex-M0
(8)
Processing: RC control
RC control requires basic
processing
 PPM signal must be
analyzed by a processor
 Processor must provide
a combination of PWM
and digital signals

(9)
Processing: Preparations for
Autonomy
Sensor data must be
made sense of
 Sensors include a laser
range finder and encoder
 Data from these sensors
must be interpreted

(10)
Processing: Full autonomy.
When all sensor systems
are functional
 Use the laser range
finder to generate a map
 Use encoder to track
position in said map
 Use map data to find
paths

(11)
Booster
Signal Booster - Medium Level
RC and processed video signals must
be relayed back and forth between both
the S.I.T.C.H. and the booster module
along with the S.I.T.C.H. and the user
 Signal must be boosted to increase the
range of operation and communication
of the S.I.T.C.H.
 The S.I.T.C.H. should be able to return
to the user without ever losing signal

Signal Booster - High Level
The Signal Booster will also have
filtering capabilities, allowing us to
increase our signal-to-noise ratio
 Implement the use of multiple signal
boosters, allowing the S.I.T.C.H. to
continue past the range of the initial
signal booster

Collision Detection

Implemented using either an ultrasonic
range finder and/or a collision detecting
bumper
Collision Sensor
The input of the sensor is the sensing of an obstacle
 The output of the sensor is a signal sent to the
processor in order for the processor to make and
decision and tell the motors to react accordingly
 Functional description: When an obstacle is detected
the sensor will send a signal to the processor and then
the system will know a collision is about to occur and
take proper action to avoid the object
 Test plan: We are going to test the sensor by placing
an object in front of the sensor and measuring the
resulting voltage

Collision avoidance

This ultrasonic range finder:
 Detect objects directly in front of it
 Can stop robot from hitting stray cats and children
 Real time
Collision avoidance
Bumper
 Hits something and reverses

A jumping off point
Mechanical Devices
Dagu Wild Thumper 4WD AllTerrain Chassis – Chrome
We have already purchased and
received this chassis..
Robots Motors

Implement motor controllers for the 4
DC motors with brass brushes and 75:1
steel gearboxes to control the robot’s
movements
Risk: Initial Motor Current
Spike
Solution: Opto-isolation Chips
Each of the 4 motors on the robot has its
own controller, therefore we will need at
least 4 opto-isolation chips to protect the
motor controllers
 Need 6 Channels minimum; undecided if
we want 4 3-Channel chips or 12 1Channel chips
 Depends heavily on available board
space

Safety Concerns
Safety Concerns
Laser Danger
 RF Exposure
 Possibility of Collision
 Small children

Communication
8 CH Wireless Audio Video 2.4 GHz 1500
mW Transmitter and Receiver Kit
Wireless video
transmission –
Safergaurd.com
RC 4 channel control


RC control signal
generators
Transmitter
Robot Parts and expenses
Parts
Quantity
Cost ($)
Rover(robot chassis+4 1
DC motors)
265.95
Motor Controllers
4
Unknown
Remote control for
rover
1
20-57
Receiver for remote
control
1
13.99
Laser
1
19.69
Stepper
Motor/Controller
1
Unknown
Camera
1
Unknown, ~$10?
Optical Encoder
-
-
Video Trans/Receiver
Pair
1
160
Processing Parts and expenses
Parts
Quantity
Cost/quantity ($)
ARM Cortex-M0
1
20 (E-store)
Booster Parts
Unknown
Unknown
Opto-isolators
4
Unknown
SD Memory
Unknown
Unknown
Division of labor
Task
Microcontroller
(communications)
Matt
Vincent
Lex
Signal Processing
Vincent
Matt
Aziz
Power and
supplies
Tyler
Aziz
Lex
Optics and
circuitry
Lex
Aziz
Tyler
Board layout
Albert
Matt
Vincent
Image processing
Matt
Vincent
Lex
Motors
Tyler
Aziz
Albert
Mechanics
Albert
Lex
Aziz
Citations
(1)http://sites.google.com/site/todddanko/home/
webcam_laser_ranger
 (2)http://www.shokabo.co.jp/sp_e/optical/labo/le
ns/lens.htm
 (3)Real-Time Embedded Systems and
Components – Sam Siewert
 (4)http://www.jameco.com/webapp/wcs/stores/se
rvlet/Product_10001_10001_2113244_-1
 (5)http://products.live.altium.com/#r10/explore/b
d-PcbLevelDesign

Citations
(6) http://www.4pcb.com/about_us/
 (7)http://www.altera.com/devices/fpga/cyclone2/
cy2-index.jsp
 (8)http://www.arm.com/products/processors/cort
ex-m/cortex-m0.php
 (9) http://www.instructables.com/id/Put-your-RCcar-under-computer-control/
 (10) http://www.instructables.com/id/3-D-LaserScanner/
 (11) NASA Curiosity
