Transcript Document 7460439

Mars Rover
By:
Colin Shea
Dan Dunn
Eric Spiller
Advisors: Dr. Huggins, Dr. Malinowski
Outline
Project Summary
 Review of Previous Work
 Division of Labor
 Datasheet and Parts
 Design Changes
 Progress Update
 Schedule

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 a
predetermined distance, or rotate the Rover to get a preferred
direction.
The user will be able to move the Rover with the use of their
direction keys. The Rover will move in a constant direction
until the key is released
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
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 – 10 seconds
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 – 1.5A
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, 20GB
Max Current - .94A (Spin-up Current)
Current in Sleep Mode - .02A
Camera –
Logitech USB Webcam
Max Current - .1A
Parts and Price List
Equipment List for Mars Rover
Part
Qty
Website
1
www.pricewatch
.com
1
www.pricewatch
.com
Manufacturer
Location of Vendor
Part #
Price
Hitachi
www.basoncompu
ter.com
HIDK23DA20F
$80.00
Infineon
www.18004memo
ry.com
LG1064U/064/G3
VAC
$14.20
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+
300MHz w/
USB
1
www.square1in
dustries.com
National Semi
www.square1indu
stries.com
CM-589
National Semi
www.square1indu
stries.com
CM-589
Pittman
www.pittmannet.c
om
20 Gb
128 Mb RAM
PC/MCIA
Wireless Card
Dual
PC/MCIA
Adaptor
Pittman DC
Motor #9236
www.square1in
dustries.com
1
2
Bradley Owned
$399.00
$94.00
$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
Lab Week
Fall Expected 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
16-Feb-03
Continue working on software development for motor control and feedback loop.
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 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
Progress Flow Chart
Java Applet
digital bit stream
User
Computer
Wireless
Network
card
802.11b
RF signal
Image
Internet
Control TCP/IP
USB Protocol
Camera
Commands
Status
PC104
Upper level software
Battery Charge
Level
g
lta
Vo
e
Wheel Sensors
TTL
Sig
na
Acoustic
Sensors
l
Transmit pulse
Green = Developed
Red = Partially Developed
H-Bridge
al
Echo pulse
Motor
M
PW
n
Sig
Bit Stream
MicroPac 535
Embedded System
Object
PC104/Upper Level Microprocessor
PC104/Upper Level Microprocessor
Previous Work
Rover Hardware
Questions and Answers