EDMA FINAL REPORT

BY: TAYLOR LEE

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Contents I. ABSTRACT .............................................................................................................................................. 3

II. EXECUTIVE SUMMARY .......................................................................................................................... 4

III. INTRODUCTION ................................................................................................................................. 5

IV. SUB-SYSTEMS .................................................................................................................................... 6

V. SYSTEM INTEGRATION .......................................................................................................................... 7

VI. MOBILE PLATFORM ........................................................................................................................... 8

VII. ACTUATION ....................................................................................................................................... 9

VIII. SENSORS .......................................................................................................................................... 10

IX. EXPERIMENTAL SET UP AND RESULTS ............................................................................................ 11

X. CONCLUSION ....................................................................................................................................... 12

XI. PROGRAM SCHEDULE ..................................................................................................................... 13

XII. CODE ............................................................................................................................................... 14

XIII. BOM AND CAD ................................................................................................................................ 15

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I. ABSTRACT

This document is intended to capture the requirements and schedule for the EDMA program. A

summary of the program’s performance will be given in SECTION II. The program itself will be

introduced in SECTION III. The various sub-systems will be outlined in SECTION IV and the

integrated system will be discussed in SECTION V. In SECTIONS VI-VII the Mobile Platform,

Actuation, and Sensors will be discussed. SECTION IX will discuss the Experimental Results and

SECTION X will give a conclusion of the program. The program schedule will be covered in SECTION

XI. A brief description of the code will be given in SECTION XII. In addition, a top level BOM and

preliminary design for the vehicle are included in SECTION XIII.

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II. EXECUTIVE SUMMARY

The EDMA Program required approximately 280 man hours to complete between electrical,

mechanical, software, and systems engineering. The entire project consisted of capturing

requirement, preliminary design, a proposal phase, design, analysis, testing, verification, and

validation. The robot performed well during demo day and met all deliverables, deeming it a

success. Minor improvements and stretch goals could be implemented with an increased

budget and schedule or in future version of this program. The site for this program can be

found here: https://sites.google.com/site/tcleeiedbot/home.

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III. INTRODUCTION

1. PURPOSE AND INTENDED FUNCTION

EDMA is ultimately intended to autonomously deliver an explosive payload (simulated by a

blinking light) to a specified target, vacate the blast radius of the payload, and then detonate the

payload wirelessly.

2. REQUIREMENTS

1. Autonomous navigation

2. Identification of a specified target

3. Delivery of a payload within proximity of the target

4. Wirelessly detonate the payload with RF signals

3. STRETCH GOALS

1. Implement a search algorithm

2. Integrated special effects upon detonation

The stretch goals are in excess of the program requirements. No penalties will result from

unattained stretch goals.

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IV. SUB-SYSTEMS

1. MECHANICAL

The mechanical design will consist a four wheel drive chassis driven by DC motors. The chassis, motors,

and wheels all come in an off the shelf kit. The payload will consist of a custom designed enclosure for

an OSEPP UNO, Xbee wifi module, and 6V battery pack. A servo and mechanical claw will grip and

deploy the payload. Both the claw and micro servo are off the shelf components. Custom mounting

brackets will be designed for the ultrasonic range finders, Ardunio Mega, the L298 motor controllers,

and the Raspberry Pi Camera Module. To house all of the sensors and electronics, an off the shelf

enclosure will be purchased.

2. ELECTRICAL

The electronics can be broken down into the vehicle and payload systems. The vehicle electronics

consists of the Raspberry PI 2 as the on board CPU, the Arduino Mega as the micro controller, the L298

motor controllers, the Raspberry Pi camera module, the 4 DC motors, the Xbee RF module, the servo

and gripper, and the ultrasonic range finders. This system is powered by two 9V battery packs and a

rechargeable USB to micro USB portable charger. The payload electronics consist of an OSEPP UNO

R3+ and Xbee RF module for communications. This electrical system is powered by a single 6V battery

pack. More detail on the individual power connections will now be provided.

Each L298 motor controller will be powered by a 9V battery pack. The on board Raspberry Pi will be

powered by a rechargeable USB to micro USB portable charger. This component is off the shelf. The

Raspberry Pi Camera module and Arduino Mega will be powered by the Raspberry Pi. The ultrasonic

rangefinders, servo and gripper, and the Xbee module will be powered by the Arduino Mega. In the

payload, an OSEPP UNO R3+ will be powered by a 6V battery pack. The UNO will power the payload’s

Xbee module.

3. OPTICAL

The on board optical system will consist of a Raspberry Pi Camera module for raw data and

the Raspberry Pi for image processing. A single ribbon cable is included with the Raspberry Pi

camera module and connects the camera directly to the Raspberry Pi through a Camera Serial

Interface (CSI) port on the Raspberry Pi. The camera module has an on board 1.5 Volt

regulator and runs directly on power from the Raspberry Pi. The operating temperature range

for the module is -30 °C to 70 °C. The output from the camera module is 8 bit RGB array. The

ray angles for the camera module are specified at 24°. Further, this camera is capable of

1080P, however the frame size was reduced to 480 x 320 in order to increase the frame rate

of the module.

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V. SYSTEM INTEGRATION

Software integration can be broken down into two main categories. The OSEPP UNO and

Arduino Mega microcontrollers are coded with C++ in an Arduino IDE. The Raspberry Pi utilizes

Python and Open CV. Serial communications allow the Raspberry Pi to exchange information

with the Arduino Mega microcontroller. The block diagrams below show the layout for the

vehicle and payload respectively.

VEHICLE

PAYLOAD

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VI. MOBILE PLATFORM

The mobile platform used in this project is an off the shelf kit from Fry’s Electronics. The kit is

called the Whippersnapper and manufactured by Actobotics. This is a very convenient kit and

includes a thermoset plastic platform, four press fit wheels, and four DC motors. The vendor part

number is 8458148 and an image of the platform is shown below.

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VII. ACTUATION

Two main components in the system were actuating parts. The first are the DC motors that

came in the mobile platform. As mentioned in the previous sections, four of these motors

actuated four press fit wheels to give the robot mobility. In addition to these motors, a single

servo controlled the gripper that held the payload. The manufacturer of this part is HITEC and

the manufacturer part number is HS-422. There are various vendors for this product. The

servo and gripper are shown below.

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VIII. SENSORS

The only true sensors used in this project are the ultrasonic range finders. Two ultrasonic

range finders were implemented onto the system to incorporate obstacle avoidance and also

to trigger detonation. When objects were very close to the robot, the ultrasonic sensors told

the robot to stop. If this object remained in the way, the sensors would then tell the robot to

turn away from the object. In addition, if the robot was receiving the serial command to drop

the payload from the Raspberry Pi, the ultrasonic sensors would also have to detect that the

target was close. This aided in mitigating false positives and prematurely dropping the

payload. The manufacturer is OSEPP, the vendor is Fry’s Electronics, and the vendor part

number is 8555239. An image of the sensor is shown below.

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IX. EXPERIMENTAL SET UP AND RESULTS

The EDMA Program had extensive trial and error testing performed. Thresholded images,

ultrasonic sensor readings, and wireless serial communications were used when trouble

shooting, but no data was needed or recorded for this program. The deliverables were all met

95% of the time from a range of approximately 30 feet. The image below shows the down

range testing set up for most of the experiments done on EDMA. The ball was identified by

the robot as the target and the black backing was used to ensure the robot detected an object

when it was close to the ball.

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X. CONCLUSION

This program was extremely successful and also a magnificent learning opportunity. The

technical lead, Taylor Lee, knew almost nothing about software, electronics, or robotics

before starting this project. He did however have a passion to learn about these topics. By the

end of this program the technical lead knew how to use OpenCV, Linux, code in Python, code

in C++, and the basics of electrical engineering. Two major things he would consider improving

in a future project are the aesthetics and the mechanical design. Taylor’s background is

mechanical engineering, so he neglected these topics and focused on the functionality of the

robot and integration of sub-systems. This was not a bad approach, but for future projects

Taylor intends to give these two subjects more attention. In addition, Taylor would use a

different power source. For this project, re-chargeable AA batteries were used. This proved

expensive and time consuming.

A special thanks goes out to the Program Managers Jake Easterling and Andy Gray. They were

both very helpful and assisted Taylor in achieving his goals. In addition, the customers Dr.

Schwartz and Dr. Arroyo were both very excellent customers to work with. They provided

great insight when needed and Taylor thoroughly enjoyed having them as his customer.

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XI. PROGRAM SCHEDULE

The following schedule provides deliverables to the customer and internal deliverables. Both

will be strictly adhered to, however only customer deliverables will be penalized in the event

of a missed deadline.

EDMA Program Schedule

Deliverable For Customer or Internal Drop Dead Date

Parts Order Internal 8/28/2015

Pre-proposal Customer 9/3/2015

Parts Received Internal 9/8/2015

Informal Proposal Customer 9/9/2015

Additional Parts on Order Internal 9/11/2015

Oral and Written Reports 1 Customer 9/17/2015

All Parts Received Internal 9/18/2015

Internal Avoidance Demo Internal 9/25/2015

Avoidance Demo Customer 10/13/2015

Camera Integration and Control Internal 10/14/2015

Package Deployment and Detonation Internal 10/21/2015

Special System Demo Customer 10/22/2015

Special System Report Customer 10/29/2015

Finalize and Integrate All Systems Internal 11/6/2015

Internal Final Demo Internal 11/18/2015

Pre-Demo Day Customer 11/19/2015

Final Presentation Customer 12/1/2015

Final Demo Customer 12/3/2015

Final Written Report Customer 12/8/2015

Media Day Customer 12/9/2015

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XII. CODE

There are three main sets of code in EDMA. The on board Raspberry Pi utilizes a program

coded in Python. The rover and payload both use code in C++. A link to these codes is

provided here: https://sites.google.com/site/tcleeiedbot/code.

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XIII. BOM AND CAD

A Solidworks BOM, isometric view, and exploded view are provided on the following pages.

For complete CAD files contact the Project Lead.

4465-609 4465-509 MOUNT 14465-604 4465-504 MOUNT 24465-603 4465-503 MOUNT 24465-602 4465-502 MOUNT 14465-601 4465-501 MOUNT 1

19 4465-519 PORTABLE CHARGER 1 AMAZON 12.99$18 4465-518 6 PACK AA BATTERY 317 4665-517 LED SET 1 FRYS ELECTRONICS 7726888 7.49$16 4665-516 MOBILE ROVER KIT 1 FRYS ELECTRONICS 8458148 28.99$15 4665-515 ELECTRONICS ENCLOSURE 114 4665-514 ADHESIVE VELCRO 1 7.99$13 4465-513 ZIP TIES12 4465-512 ZIP TIE MOUNTS 11 4465-511 AA NIMH BATTERY 16 AMAZON 2.50$10 4465-510 CANAKIT RASPBERRY PI 2 KIT 1 AMAZON 69.99$9 4465-509 RASP PI CAMERA MODULE 1 SPARK FUN DEV-11868 34.95$8 4465-508 SERVO 2 SPARK FUN ROB-09065 8.95$7 4465-507 GRIPPER 1 SPARK FUN ROB-13176 5.95$6 4465-506 XBEE USB ADAPTER BOARD 1 DIGI-KEY 32400-ND 24.99$5 4465-505 XBEE MODULE ZIGBEE 1 DIGI-KEY 602-1098-ND 17.00$4 4465-504 MOTOR DRIVER 2 FRYS ELECTRONICS 8353697 9.99$3 4465-503 RANGE FINDER 2 FRYS ELECTRONICS 8555239 5.99$2 4465-502 ARDUINO MEGA 1 FRYS ELECTRONICS 8458148 28.99$1 4465-501 OSEPP UNO R3 PLUS 1 FRYS ELECTRONICS 7224833 29.99$

ITEM NO. IMDL P/N DESCRIPTION QUANTITY VENDOR VENDOR P/N COST PER UNIT

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A

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B B

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EDMA TOP LEVEL

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INTERPRET GEOMETRICTOLERANCING PER:

DIMENSIONS ARE IN INCHESTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL

APPLICATION

USED ONNEXT ASSY

PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OF<INSERT COMPANY NAME HERE>. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF<INSERT COMPANY NAME HERE> IS PROHIBITED.

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A

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B B

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2 134

DO NOT SCALE DRAWING

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UNLESS OTHERWISE SPECIFIED:

SCALE: 1:8 WEIGHT:

REVDWG. NO.

BSIZE

TITLE:

NAME DATE

COMMENTS:

Q.A.

MFG APPR.

ENG APPR.

CHECKED

DRAWN

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MATERIAL

INTERPRET GEOMETRICTOLERANCING PER:

DIMENSIONS ARE IN INCHESTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL

APPLICATION

USED ONNEXT ASSY

PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OF<INSERT COMPANY NAME HERE>. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF<INSERT COMPANY NAME HERE> IS PROHIBITED.

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A

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B B

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2 134

DO NOT SCALE DRAWING

4465-500SHEET 3 OF 3

UNLESS OTHERWISE SPECIFIED:

SCALE: 1:8 WEIGHT:

REVDWG. NO.

BSIZE

TITLE:

NAME DATE

COMMENTS:

Q.A.

MFG APPR.

ENG APPR.

CHECKED

DRAWN

FINISH

MATERIAL

INTERPRET GEOMETRICTOLERANCING PER:

DIMENSIONS ARE IN INCHESTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL

APPLICATION

USED ONNEXT ASSY

PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OF<INSERT COMPANY NAME HERE>. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF<INSERT COMPANY NAME HERE> IS PROHIBITED.