kgcoe msd technical review agendaedge.rit.edu/edge/p14215/public/finaldocuments/p14215... ·...

KGCOE MSD Technical Review Agenda

KGCOE MSD of 17 Technical Review Agenda

Meeting Purpose: SubSystems Design Review

Materials to be Reviewed:

Project description

Strategy and approach

Customer Requirements

Engineering Requirements

Functional Decomposition

System Block Diagram

Selected Concepts

Concept Screening

Project Plan/Test Plan

Risk Assessment

Meeting Date: 03-04-2014

Meeting Location: Building 09-4425

Meeting time: 2:30pm to 3:30pm

Timeline:

Meeting Timeline

Start

time Topic of Review Required Attendees

2:30PM Introduction of Project All team members and George

Slack

2:35PM Updated Customer Requirements All team members and George

Slack

2:40PM Updated Engineering Specifications All team members and George

Slack

2:45PM Functional Decomposition All team members and George

Slack

2:50PM System Block Diagram All team members and George

Slack

3:00PM Concept Screening All team members and George

Slack

3:05PM Project Plan All team members and George

Slack

3:10PM Updated Risk Assessment All team members and George

Slack

3:12PM Questions, Concerns, Ideas All team members and George

Slack

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Project # Project Name Project Family

P14215 Autonomous Wandering Ambassador Start Term Team Guide Project Sponsor Doc. Revision

2135 George Slack George Slack 1

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Customer Requirements:

Engineering Requirements:

Functional Decomposition

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System Block Diagram

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Selected Concept

Mapping

Figure 1: Building 9 3rd Floor layout with AI-Path finder

Figure 2: Negative image of building 9 3rd floor

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OMAP 4 PandaBoard

Figure 3: OMAP 4 PandaBoard

Functions:

Web Server: Website

o Remote Control

o Map

o Sensor Readings

WebCam

Current Issues:

Loses network name: wamb.student.rit.edu

o Need to find root cause

Requires elevated permissions to run server

o Requires forcing the same USB port

Or

o Requires permanent change to serial port permissions

Plans:

Merge current wamb.student.rit.edu:8090 website with planned map and WebCam viewer

Resolve current issues

Baseline

PandaBoard BeagleBone CC3000 Raspberry Pi

Feasibility 0 0 -1 0

Cost 0 -1 0 -1

Compatiblity with PSoC 0 0 -1 0

Familiarity 0 -1 1 -1

Sum of Positives 0 1 0

Sum of Negatives 2 2 2

Sum of Neutrals 2 1 2

Total -2 -1 -2

Alternative

Table 1 – WebServer and Media Board Component Selection

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CY8CKIT-050 PSoC 5LP

Baseline Alternative

PSoC5LP Arduino

Cost 0 0

Feasibility 0 -1

Familiarity 0 1

Pre-existing Code 0 -1

Sum of Positives 0

Sum of Negatives 2

Sum of Neutrals 1

Total -2 Table 2 – Movement/Sensors Board Component

Selection

Figure 4: CY8CKIT-050 PSoC 5LP

Functions:

Send signals to motor H-bridges to control robot movement

Receive signals from SONAR sensors and encoders

Plans:

Receive signals from new SONAR and IR sensors

Send HALT command if given appropriate signals from sensors.

Connect to and manage signals received from RFID reader. o May use an Arduino to manage these signals separately

Due to limitations in PSoC processing speeds.

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Long-Distance Detection Baseline Alternative

Sonar MB7001 I2C SRF02

Beam Pattern 0 1

Cost 0 1

Max Distance 0 -1

Accuracy 0 1

Ease of Use (I2C) 0 1

Size 0 1

Sum of Positives 5

Sum of Negatives 1

Sum of Neutrals 0

Total 4 Table 3 – Sonar Component Selection Figure 5 – MB7001 SONAR Sensor

Current Issues with MB7001:

There are only 3 SONARs. Inadequate coverage.

Fails to detect clothing and other non-smooth objects consistently.

Chose replacement SONAR sensors:

SRF02 SONAR Sensors

Figure 6: SRF02 ISO_View Figure 7: SRF02 pins layout (I

2C connection) Figure 8: SRF02 Dimensions

SRF02

Minimum Range 7 in

Output Formats I2C

Serial Figure 9: SRF02 Beam Pattern (80 degrees) Table 4: SRF02 Selected Technical Specifications

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Short-Distance Detection

Short-range IR sensors are required for floor detection of objects very close to the

floor.

SONAR sensors have larger required ranges.

When IR sensors are tripped, the robot H-bridge should be sent to the HALT state.

IR Sensor Selection: Baseline

IR Sensors GP2Y0D805Z0F GP2Y0A41SK0F GP2Y0A02YK0F GP2D120XJ00F

Detect Range 0 -1 1 1

Price 0 -1 -1 -1

Compatibility 0 0 0 0

Analog or Digital 0 1 1 1

Sum of Positives 1 2 2

Sum of Negatives 2 1 1

Sum of Neutrals 1 1 1

Total -1 1 1

Alternative

Table 5 – IR Sensor Specifications considered for selection

Tested IR Sensor:

Figure 10: Pololu Carrier with Sharp GP2Y0D805Z0F IR Sensor

Product Name Detect Range (cm) Price($)

Sharp GP2Y0A02YK0F 20-150 15

Sharp GP2Y0A41SK0F 4-30 14

Pololu Carrier with Sharp GP2Y0D805Z0F 0.5-5 7

Sharp GP2D120XJ00F 3-40 14 Table 6 - Detection and Price Comparisons

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RFID Cards and Reader

They both operate at different frequencies in the UHF spectrum. Thus, it was

necessary to choose RFID cards compatible with the reader. Passive cards were

chosen. These were cheaper, but at the cost of maximum distance. The selected

reader could also write to the passive RFID cards.


RFID Board Skyetek Board Adafruit Board

Ease of Use 0 1

Cost 0 -1

Reliability 0 1

Sum of Positives 2

Sum of Negatives 1

Sum of Neutrals 0

Total 1

Table 7 – RFID reader/card selection

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Encoders

At least one of the encoders was found to be broken. Replacement encoders were chosen based

on price and number of ticks. The EM14 Encoders were chosen as a replacement.

Figure 11 – MA3 Encoder Figure 12 – EM14 Encoder


Encoders MA3 EM14

Accuracy 0 -1

Cost 0 1

Ease of Use 0 1

Size 0 0

Sum of Positives 2

Sum of Negatives 1

Sum of Neutrals 1

Total 1 Table 8 – Encoder Selection

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Project Planning/Test Plan

Apurva Shah- Week 10-Sub-Systems Deliverables, Update Website, help the team

Week 11-Begin detailed design review, help team in any way

Week 12-Detailed design review

Nick Nguyen-Week 10-Implementation of PS2 controller

Week 11-Begin writing html file for Pandaboard

Week 12-Implementation of Sonar Sensors

Mike Gambino-Week 10-Begin writing code for IR sensors on PSOC

Week 11-Get webcam script to work in Python web server

Week 12-Implement IR sensors on robot

Peichuan Yin-Week10-Implementing encoders on robot

Week 11-Decide a way for implementation of Arduino and PSOC

Week 12-Installation of RFID floor sensor on robot

Test Plan outline

Test Encoder

Verify capability with Arduino and has sufficient resolution (6bit)

Test PS2 Controller

Connect to Arduino

Arduino output a desire PWM to motherboard

Adafruit RFID PN532

Test on robot and look for possible antenna.

Test range

Test Internet data retrieving

Send RFID tag’s information over network with Panda board.

Have user’s computer running webserver to retrieve RFID tag’s information.

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Risk Assessment:

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Appendix

MB7001 Sonar Sensor

1. Designed for outdoor or indoor environments

2. 3.0V to 5.5V supply with very low average current draw

3. Sensor operates at 42KHz

4. Sensor deadzone virtually gone

5. Free run operation can continually measure and output range information

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SRF02 Ultrasonic range finder

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GP2Y0D805Z0F

Feature summary

operating voltage: 2.7 V to 6.2 V

average current consumption: 5 mA (typical)

distance measuring range for GP2Y0D805Z0F: 0.5 cm to 5 cm (0.2" to 2")

distance measuring range for GP2Y0D810Z0F: 2 cm to 10 cm (0.8" to 4")

output type: digital voltage

steady state update period: 2.56 ms typical (3.77 ms max)

module size: 21.6 x 8.9 x 10.4 mm (0.85" x 0.35" x 0.41")

weight without header pins: 1.3 g (0.05 oz)

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Arduino Mega 2560

Summary

Microcontroller ATmega2560 Operating Voltage 5V Input Voltage (recommended) 7-12V Input Voltage (limits) 6-20V Digital I/O Pins 54 (of which 15 provide PWM output) Analog Input Pins 16 DC Current per I/O Pin 40 mA DC Current for 3.3V Pin 50 mA Flash Memory 256 KB of which 8 KB used by bootloader SRAM 8 KB EEPROM 4 KB Clock Speed 16 MHz

ISR 6

I2C/SPI Yes

PSOC5

Unmatched precision analog integration

Best-in-class ADCs

o 2x12-bit 1Msps SAR ADCs

o 20-bit DelSig ADC

1.024V ±0.1% on-chip reference

Precision Analog

o OpAmps, Comparators, I/VDACs, CapSense®, and more

Fully functional analog from 1.71 – 5.5V

The most flexible low power PSoC 0.5V start-up Boost

300nA low leakage Hibernate

Widest operating range 0.5V to 5.5V

100+ production-ready components CapSense® touch sensing

Segment LCD display

Trans-impedance amplifie

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