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
• Project Description
• Data Sheet
• Equipment and Parts
• Design Changes
• Schedule
• Progress Update

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 the Rover using the keypad, or
  rotate the Rover to get a preferred direction.

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

6
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.

7
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

8
Functional Description
9
System Block Diagram
10
Software Flow Chart

• High Level Software
• Rover Control

11
Software Flow Chart

• High Level Software
• Image Retrieval/Display

12
Software Flow Chart

• Low Level Software
• Motor Control

13
Software Flow Chart

• Low Level Software
• Object Detection

14
Software Flow Chart

• Low Level Software
• Battery Voltage Level

15
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 1 second
• Farthest object detection 200cm
• Closest object detection 50cm

16
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)

17
Data Sheet

• PC104
• Max Current, during bootup 1.5A
• Normal operating current .8A
• Sleep mode current .026A
• 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, 10GB
• Max Current - .94A (Spin-up Current)
• Current in Sleep Mode - .02A
• Camera
• Logitech USB Webcam

18
Power Calculations

• Power Consumption for Sleep Mode
• PC104 computer .026A
• PC104 PCMCIA module .07A
• IDE Laptop Hard drive .015A
• PCMCIA Wireless Card .009A
• EMAC .045A
• _____
• Total .165A
• 24hrs 7days 168hrs
• 168hrs .165A 27.72 Ah _at_ 5V
• 27.72Ah 5V 138.6Wh
• Using 2 - 12 Volt, 7.2Ah batteries
• 12V 7.2Ah 3 259.2 Wh available

19
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

20
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)
  98.7168hrs259.2Wh required

21
Parts and Price List
22
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

23
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

24
(No Transcript)
25
Progress Flow Chart
Green Developed Red Partially Developed
26
Progress Update
27
Questions and Answers