Mars Rover

1
Mars Rover

• By
• Colin Shea
• Dan Dunn
• Eric Spiller

Advisors Dr. Huggins, Dr. Malinowski
2
Outline

• Project Summary
• Review of Previous Work
• Division of Labor
• Datasheet and Parts
• Design Changes
• Progress Update
• Schedule

3
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

4
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

5
Division of Labor

• Dan Dunn Colin Shea Eric Spiller
• Assembly Code Java/Server Hardware
• - Motor Speed - Image Capture - DC Motors
• - Wheel Sensors - Rover Controls - Platform
  Construction
• - Battery Charge Level - Serial Communication -
  H-bridge/Motor Driver
• -Serial Communication - Battery Charger
• -Acoustics Sensors

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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 _at_ 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

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Data Sheet

• Motors
• Model number GM9X12
• Gearing 165.5
• 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 _at_ 7.2Ah
• Wheels 5cm x 16cm (Width x Diameter)

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Data Sheet

• PC104
• Max Current 1.5A
• Processor National Semiconductor Geode
  Processor _at_ 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

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Parts and Price List
Equipment List for Mars Rover Equipment List for Mars Rover Equipment List for Mars Rover Equipment List for Mars Rover Equipment List for Mars Rover Equipment List for Mars Rover Equipment List for Mars Rover Equipment List for Mars Rover Equipment List for Mars Rover Equipment List for Mars Rover

Part Qty Website Website Website Manufacturer Manufacturer Location of Vendor Part Price
20 Gb 1 www.pricewatch.com www.pricewatch.com www.pricewatch.com Hitachi Hitachi www.basoncomputer.com HIDK23DA20F 80.00
128 Mb RAM 1 www.pricewatch.com www.pricewatch.com www.pricewatch.com Infineon Infineon www.18004memory.com LG1064U/064/G3VAC 14.20
PC/MCIA Wireless Card 1 www.pricewatch.com www.pricewatch.com www.pricewatch.com Logictech Logictech www.legendmicro.com DL1150 69.00
USB Webcam 1 www.pricewatch.com www.pricewatch.com www.pricewatch.com Logictech Logictech www.enpc.com 961137-0403 16.00
PC104 300MHz w/ USB 1 www.square1industries.com www.square1industries.com www.square1industries.com National Semi National Semi www.square1industries.com CM-589 399.00
Dual PC/MCIA Adaptor 1 www.square1industries.com www.square1industries.com www.square1industries.com National Semi   National Semi   www.square1industries.com CM-589    94.00
Pittman DC Motor 9236 2 Bradley Owned Bradley Owned Bradley Owned Pittman Pittman www.pittmannet.com    
  672.20

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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

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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

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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 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
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Progress Update
Second Semester  
Date Progress Description
1/19/03 to 1/25/03 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.
1/26/03 to 2/1/03 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.
2/2/03 to 2/8/03 Attempted to install Linux on the 2.5 inch hard drive.
2/2/03 to 2/8/03 Linux would install and boot, but not run.
2/2/03 to 2/8/03 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.
2/9/03 to 2/15/03 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.edu8080
2/16/03 to 2/22/03 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.
2/23/03 to 3/01/03 Continued testing serial communication between a windows based computer and the Micropac 535.
2/23/03 to 3/01/03 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
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Progress Flow Chart
Green Developed Red Partially Developed
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PC104/Upper Level Microprocessor
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PC104/Upper Level Microprocessor
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Previous Work
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Rover Hardware
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Questions and Answers