Autonomous Sensor and Control Platform Rover

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Autonomous Sensor and Control Platform Rover

• Tae Lee
• Josh Reitsema
• Scott Zhong
• Mike Chao
• Mark Winter

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Brief Description

• An easily extensible autonomous rover platform.
• Initially equipped with SONAR, IR, and bumper
  sensors.
• A camera for remote viewing and control.
• Functionally extendable control program makes the
  rover extremely versatile.

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Goals

• Central processing and control circuitry.
• Control for devices Motors, SONAR, IR, and
  bumpers.
• Communication with a computer via serial or
  possibly WIFI for programming and remote control.
• Camera mounted on rotating platform, to provide
  computer controllers with a video display

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Extensions

• WIFI communication with computer.
• DSP for video to heighten the rovers senses

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Cost and Returns

• Initial costs are low because of the availability
  of a basic rover platform for prototyping,
  equipped with motors and sensors.
• Given the high versatility of the Autonomous
  Sensor and Control(ASAC) platform, we can expect
  high demand from companies requiring an
  autonomous unit for sensor data collection in
  inaccessible areas.

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Outline of Approach
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Needed Hardware Subsystems

• Main Controller Board
• Sensor Interface Hardware
• Motor Controller Hardware
• Communication to Human Interface

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Main Controller Board

• Based on 2120 board
• Motorola 68HC11 processor, Xlinix logic chip,
  multiple I/O buslines for input to sensors and
  output to motors
• Needs to be programmable in C, C compilier

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Other Hardware Systems

• Each sensor, video, IR, wheel encoders, etc.,
  needs to be interfaced into the main controller
  board
• Communication will be wi-fi and direct connect
• The motors must be set precisely with correct
  current and voltage

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Software Subsystems

• Drivers for hardware will be written in Assembly
• High level control, i.e. decisions and behavior,
  will be written in C
• Control will be accessed through a graphical user
  interface

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Implementation of Various Subsystems

• Chassis
• Mainboard
• Power
• Communications
• Sensors

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Chassis

• Provided with a stripped down vehicle
• Frame
• 2 X 12V stepper motors
• Controlled using a Generic H-Bridge.
• Sonar sockets placed around the cart
• Possibly implement if time permits.

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Mainboard

• Using a 68HC11 to process commands
• FPGA
• Will handle expanded IO to sensors.
• Will execute movement commands.

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Power

• Regulators will provide 3 different voltages.
• 12V
• Motors
• 5V
• Motorola 68HC11
• Xilinx FPGA
• 3.3V
• Communication Module

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Communication

• Programming handled through a serial cable
• Integrate a WiFi module
• Lantronix WiPort.
• Otherwise fall back to RC or wired communication.

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Sensors

• Camera will feed data to a monitor
• Time permitting data will be transmitted over
  wireless interface.
• Otherwise it will have its own independent
  transmission (baby monitor).
• Hopeful expansion
• Integrate existing sonar ports.

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Division of labor and responsibilities

• Scott
• Main board and processor
• Specification of interface between each different
  module (WiFi, Sonar, etc)
• Tae
• Main board and processor
• Manual editor
• Ultrasonic Sensors

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Division of labor and responsibilities

• Mike
• WiFi Interface
• Control of Rover
• Sensor Data
• Josh
• Video Camera Interface and Control
• Movement Circuit
• Ultrasonic Sensors
• High Level Control Software

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Division of labor and responsibilities

• Mark
• Test and Document Current Hardware
• Drivers
• Data Processing Algorithms
• Video Interface

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Division of labor and responsibilities

• Everyone
• Documentation
• User manual
• Tech Support
• Trips to get food

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Considerations

• Project to Complex?
• Too many peripheral sensors
• Do we have enough time to do all this
• Is there enough processing power
• PCB
• Eliminate Noise
• Wire wrap problems go away
• Ultrasonic Sensors
• How many do we need for accuracy
• How are we going to connect them
• Video Feed
• Stand alone unit with no integration
• Wi-fi using serial
• Is it fast enough

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Risks

• Do we have what it takes
• Knowledge of components
• Can we learn really, really fast?
• Unexpected Complexities
• Bad parts, what's that smell during testing
• How long to fix the unexpected?
• Complications during integration of modules
• Use of old motors

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Contingency Plan

• Make sensor sub-systems very modular
• Leave out the flash until the end
• Make sure the basics work first
• Wired communications
• Back up for wi-fi
• Order extras if we can
• Replace old motors with newer model
• Data sheets, Support

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Thanks

• Questions?