ECE 477 DESIGN REVIEW TEAM 08 SPRING 2010

Greg Beau SerajAnanya

Outline Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation PCB layout Software design/development status Project completion timeline Questions / discussion

Project Overview

Autonomous robot Simulates behavior of dog fetching Tracks a thrown object, picks it up, and

returns it to thrower Able to avoid obstacles

Computer vision Able to recognize an object using a

camera Follows object using computer vision

algorithms (SIFT)

Project-Specific Success Criteria

An ability to identify a target object within a captured image

An ability to control vehicle direction and speed

An ability to recognize nearby objects in anticipation of avoiding said objects

An ability to pick up an object autonomously

An ability to record a GPS location in order to verify that DOG has returned to this location

Block Diagram

Component Selection Rationale Microcontroller

Freescale MC9S12A 8-channel PWM Dual SCI Familiar

architecture

Chassis Self-designed and

built Cheapest Greatest flexibility

for designing neck/arm

Component Selection Rationale Vision processor

Intel Atom board Available for free Ability to use high-

level languages H-bridges

VNH3SP30 30A capable PWM drive

Component Selection Rationale Motors

Planetary gear motor

High torque Stall torque 152 oz-in (x4)

Ample speed No load 1023 RPM

GPS PMB-248 Accuracy of ±2m 1 second refresh rate

Component Selection Rationale Sonar Sensors

LV-MaxSonar-EZ3 6” to 254” range

with 1” resolution 3 ¼” diameter

dowel

Packaging Design

Chassis House electrical

components Neck

Extends to reach out and grab object

Head Top mounted camera

for maximum field of view

Tail Aesthetics (possible

GPS mounting position)

Packaging Design

Packaging Design

CameraGPS (tail?)Servos (TBA)Ultrasonic

SensorsMotorsBatteries

Atom

Head

NeckBody

Schematic/Theory of Operation

Schematic/Theory of Operation LM2675

Input: 14.4V Output: 5.0V Drives: Micro,

Servos, Sensors, GPS, Level Translator

AP1509 Input: 14.4V Output: 12.0V

(2.0A) Drives: Atom board

Schematic- H-Bridge

PWM Pin Enable

and direction

pins

µC

Test Points

8.4V @ 30A GNDBattery

VNH3SP30 Power Input: 8.4V

@ 30 A Logic Input: PWM,

Direction and Enabling I/O @ 5.0V

Drives: Motor(x2)

Schematic-Level Translators MAX3232

Input: TTL Rx/Tx

Output: RS-232 Rx/Tx

Allows for serial communication

Schematic - Microcontroller

H-Bridges

MC9S12A 8-Ch PWM

Motor Drivers (x2) Servos (x6)

8-Ch ATD Sonar Sensors

(x3) 24-Ch I/O

Motor Drivers (x8) LEDs (x4) Push Buttons (x3)

2-Ch Serial Atom Board (x1) GPS (x1)

Schematic-Oscillator and BDM 6 MHz quartz

crystal Pierce oscillator

BDM connector Used for debugging Reset BKGND (signal) Power / Ground

PCB Layout

PCB Layout – H Bridge

Wide traces/ multiple traces for power rails

Drill holes for soldering

Heat sink drill holes

Output headers connected through thick traces to the motor

PCB Layout – Oscillator

Very close to microcontroller

No traces allowed underneath

PCB Considerations-1

High power circuitry, digital and analog subsystems are separated and placed in different sections

Bypass capacitors placed close to the microcontroller

Peripherals and connectors are oriented on the edges for easy accessibility

High current part Digital Part

Bypass Capacitors

PCB Considerations-2

One main Power and Ground system

Bulk capacitors between the power terminals

Ground and power traces run parallel

8.4v power supply runs on 150 mils power and ground traces

14.4v power supply runs on 22 mils power and ground traces

Bulk Capacitors

Power Ground

Software Design/Development Status

Complete Tested functionality of GPS, Servos, Sonar,

Atom, Motors, Micro Tested Vision tracking and the use of SIFT Prototype interfaces with Servos, Sonar, Micro Layout of all chassis parts

Incomplete Machining of all chassis parts Chassis assembly Software development Integration

Project Completion Timeline

Task Week 9

Week 10

Week 11

Week 12

Week 13

Week 14

Week 15

Week 16

Final PCB

Assemble chassis

Mount components

Write vision software

Write drive software

Write sonar software

Write GPS software

Write Servo control software

Integration

Algorithm expansion

System testing

QUESTIONS/DISCUSSION

Appendix A: System Flow Chart

Appendix B: Software Gantt Chart

Number Task Resource Start End Duration%

Complete

2/15 2/22 3/1 3/8 3/15 3/22 3/29 4/5 4/12 4/19 4/26

2/15 2/16 2/17 2/18 2/19 2/20 2/21 2/22 2/23 2/24 2/25 2/26 2/27 2/28 3/1 3/2 3/3 3/4 3/5 3/6 3/7 3/8 3/9 3/10 3/11 3/12 3/13 3/14 3/15 3/16 3/17 3/18 3/19 3/20 3/21 3/22 3/23 3/24 3/25 3/26 3/27 3/28 3/29 3/30 3/31 4/1 4/2 4/3 4/4 4/5 4/6 4/7 4/8 4/9 4/10 4/11 4/12 4/13 4/14 4/15 4/16 4/17 4/18 4/19 4/20 4/21 4/22 4/23 4/24 4/25 4/26 4/27 4/28 4/29 4/30 5/1 5/2

Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun

1 Vision 2/15/2010 4/21/2010 66

1.1 Test 2/15/2010 2/16/2010 2

1.1.1 Capture images 2/15/2010 2/15/2010 1 100.0

1.1.2 Extract SIFT features 2/15/2010 2/16/2010 2 100.0

1.2 Development 4/10/2010 4/21/2010 12

1.2.1 Stream video 4/10/2010 4/11/2010 2

1.2.2 Capture and extract target image 4/12/2010 4/13/2010 2

1.2.3 SIFT target image 4/14/2010 4/15/2010 2

1.2.4 Find target in view 4/16/2010 4/18/2010 3

1.2.5 Track target 4/19/2010 4/21/2010 3

2 Drive Motors 2/25/2010 3/26/2010 30

2.1 Test 2/25/2010 3/22/2010 26

2.1.1 Test motors 2/25/2010 2/25/2010 1 100.0

2.1.2 Test H-bridge 3/22/2010 3/22/2010 1

2.2 Development 3/23/2010 3/26/2010 4

2.2.1 Control speed 3/23/2010 3/23/2010 1

2.2.2 Control direction 3/24/2010 3/24/2010 1

2.2.3 Brakes 3/23/2010 3/23/2010 1

2.2.4 Heading control 3/25/2010 3/26/2010 2

3 Ultrasonic Sensors 2/22/2010 3/27/2010 34

3.1 Test 2/22/2010 2/22/2010 1

3.1.1 Read raw data 2/22/2010 2/22/2010 1 100.0

3.2 Development 3/26/2010 3/27/2010 2

3.2.1 Read and convert raw data 3/26/2010 3/26/2010 1

3.2.2 Set threshold distance for interrupts 3/27/2010 3/27/2010 1

4 GPS 2/22/2010 4/1/2010 39

4.1 Test 2/22/2010 3/27/2010 34

4.1.1 Test chips ability to acquire a lock 2/22/2010 2/22/2010 1 100.0

4.1.2 Test acquisition of raw data (SCI) 3/27/2010 3/27/2010 1

4.2 Development 3/28/2010 4/1/2010 5

4.2.1 Read and convert raw data 3/28/2010 3/29/2010 2

4.2.2 Calculate 3/30/2010 4/1/2010 3

4.2.2.1 Location 3/30/2010 3/30/2010 1

4.2.2.2 Speed 3/30/2010 3/31/2010 2

4.2.2.3 Direction 3/31/2010 4/1/2010 2

4.2.3 Save way-point 3/30/2010 3/31/2010 2

4.2.4 Generate heading to way-point 4/1/2010 4/1/2010 1

5 Neck Control 2/23/2010 4/9/2010 46

5.1 Test 2/23/2010 2/27/2010 5

5.1.1 Test servo control (over clocked) 2/23/2010 2/23/2010 1 100.0

5.1.2 Test servo resolution (8 and 16 bit) 2/26/2010 2/27/2010 2 50.0

5.2 Development 3/22/2010 4/9/2010 19

5.2.1 Control 3/22/2010 4/6/2010 16

5.2.1.1 Axis 3/22/2010 3/23/2010 2

5.2.1.2 Cartesian 3/24/2010 3/30/2010 7

5.2.1.3 Spherical 3/31/2010 4/6/2010 7

5.2.2 Speed settings 3/22/2010 3/23/2010 2

5.2.3 Homing 3/22/2010 3/22/2010 1

5.2.4 General pan control 4/7/2010 4/9/2010 3

5.2.5 General tilt control 4/7/2010 4/9/2010 3

6 Gripper Control 3/22/2010 3/23/2010 2

6.1 Test 3/22/2010 3/22/2010 1

6.1.1 Test gripper functionality 3/22/2010 3/22/2010 1

6.2 Development 3/23/2010 3/23/2010 1

6.2.1 Open gripper 3/23/2010 3/23/2010 1

6.2.2 Close gripper 3/23/2010 3/23/2010 1

7 Integration 3/28/2010 4/28/2010 32

7.1 Avoid obstacles 3/28/2010 3/30/2010 3

7.2 Go to GPS way-point 4/2/2010 4/4/2010 3

7.3 Pan/Tilt camera to track object 4/22/2010 4/26/2010 5

7.4 Rotate robot to track object 4/22/2010 4/25/2010 4

7.5 Grab target 4/27/2010 4/28/2010 2

8 Algorithms 4/5/2010 4/30/2010 26

8.1 Follow target object 4/25/2010 4/28/2010 4

8.2 Avoid obstacles on path 4/5/2010 4/7/2010 3

8.3 Search for lost target 4/27/2010 4/30/2010 4

9 System Testing 4/5/2010 4/29/2010 25

9.1 Identify trained target 4/22/2010 4/23/2010 2

9.2Track moving target, while avoidingobstacles

4/26/2010 4/27/2010 2

9.3 Reach and pickup target 4/28/2010 4/29/2010 2

9.4 Return home 4/5/2010 4/6/2010 2

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