s.i.t.c.h
DESCRIPTION
Aziz Albander Matt Certosimo Albert Como Vincent Din Lex Telischak Tyler Troup. S.I.T.C.H. Overview. Design of a semiautonomous robot Transmits video feed back to user Drops relay module for extended range Utilizes laser range finder to navigate unobstructed return path - PowerPoint PPT PresentationTRANSCRIPT
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S.I.T.C.H.
Aziz AlbanderMatt Certosimo
Albert ComoVincent Din
Lex TelischakTyler Troup
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Overview Design of a semiautonomous robot Transmits video feed back to user Drops relay module for extended range Utilizes laser range finder to navigate
unobstructed return path Pre-constructed robot chassis
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Objectives Implement remote control Equip rover with laser range finder:
Object DetectionPath finding
1500mW, 2.4GHz video transmission Top roving speed at least 2mph 640x480 video resolution Hopeful for 100m navigation range
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Design Goals Module Low Medium High
Power Buy TI Chips/ etch PCB
TI Controller chips; design converters
Design all controllers and converters
Sensing Stereoscopic camera vision
Single Laser and Camera
Line laser
Image Processing
Stereoscopic camera vision
Obtain distance and angle from single laser
Obtain distance and angle from line laser
Board Layout Etch analog control circuit
Print digital control circuit
Dual core processors on one board
Motors Elbow grease Servo Motor moving sensor
Servo motor moving sensor 2 dimensions
µproccessing RC Analog ARM or FPGA to perform digital decoding/processing
ARM and FPGA to increase processing power and store location/mapping
Booster None Increase operating range from user
Multiple boosters
Collision Sensing
None Bumper/Ultrasonic None
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Power Supply
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Power Supply The goal of the power supply system is
to provide all the loads with necessary power level
Batteries and separate control circuits will be used for each subsystem
We are still undecided if we want to design and build converters or if we are going to buy power management chips from TI
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At low level: Buying a DC/DC convertor to divide the power
through out the circuit Getting all the devices on an etched circuit boardAt medium level:Buying the controller and design the buck DC/DC convertor At high level:Design the controllers that control the power on the circuit and design the convertors to divide the power throughout the system
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DC Batteries
Robot Power SupplyDriver Motor Controllers
Processor
Sensors
DC motors with brass brushes and 75:1 steel
gearboxes
Motor Controllers
Motor for Camera
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Receiving
ProcessingSensory Transmitting
MotorsData Storage
Transmit Receive
Receive Transmit
Transmit Receive
ROBOT
BOOSTER
USER
High-level System Block Diagram
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Distance Sensing
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Laser Range Finder Theory
But what is “tan θ” ?
(1)
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Finding The AngleTo find the angle used in the distance equation a few things may be needed:
What pixel is the brightest on the camera?How far is that pixel from the horizon?How many radians per pixel pitch?
Number of pixels can be counted from the center of the focal plane
The other parameters will be found by calibration table:
(1)
(1)
(1)
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Beam Shaping with Cylindrical Lenses Spreading the beam horizontally will
allow for more distances to be calculated at a time
(2)
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Beam Shaping Can be done with a cylinder of water
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A different Range finding option
Professor Siewert’s description of machine vision in his real-time imbedded systems book Uses two camerasStill finds distanceCons: Pro:Computationally more intensive More support available if we get stuck
(3)
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Image Processing Options Brightest pixel Single distance
Line of bright pixels Multitude of
distances
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MathLaser
Fix focal lengthMeasure beam diameterDetermine beam spread in 1 dimensionDetermine
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Board Layout
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Board Layout Goal – Low We plan on etching
our own analog control circuits for the motors
Kits are available from Jameco.com that allow us to etch at least 5 circuits for under 45$
(4)
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Board Layout Goal – Medium + High We plan on utilizing
Altium to layout a digital control circuit
Then our designs will be sent to Advanced Circuits in Aurora to generate a PCB
For our high level goal we plan on printing multiple processors on one board
(5)
(6)
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Motors
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Motors - Low No motors Manual control
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Motors - Medium Use of single servo
motor Horizontal Direction
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Motors – High Use of dual servo
motors Horizontal and
vertical directions Implementation
Motors connected
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Processing
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Processing – the PossibilitiesFPGA Cyclone II ARM Cortex-M0
We may even use a combination of the two types
(8)(7)
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Processing: RC control RC control requires basic
processing PPM signal must be
analyzed by a processor Processor must provide
a combination of PWM and digital signals
(9)
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Processing: Preparations for Autonomy Sensor data must be
made sense of Sensors include a laser
range finder and encoder Data from these sensors
must be interpreted
(10)
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Processing: Full autonomy. When all sensor systems
are functional Use the laser range
finder to generate a map Use encoder to track
position in said map Use map data to find
paths
(11)
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Booster
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Signal Booster - Medium Level RC and processed video signals must
be relayed back and forth between both the S.I.T.C.H. and the booster module along with the S.I.T.C.H. and the user
Signal must be boosted to increase the range of operation and communication of the S.I.T.C.H.
The S.I.T.C.H. should be able to return to the user without ever losing signal
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Signal Booster - High Level The Signal Booster will also have
filtering capabilities, allowing us to increase our signal-to-noise ratio
Implement the use of multiple signal boosters, allowing the S.I.T.C.H. to continue past the range of the initial signal booster
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Collision Detection Implemented using either an ultrasonic
range finder and/or a collision detecting bumper
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Collision Sensor The input of the sensor is the sensing of an obstacle The output of the sensor is a signal sent to the
processor in order for the processor to make and decision and tell the motors to react accordingly
Functional description: When an obstacle is detected the sensor will send a signal to the processor and then the system will know a collision is about to occur and take proper action to avoid the object
Test plan: We are going to test the sensor by placing an object in front of the sensor and measuring the resulting voltage
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Collision avoidance This ultrasonic range finder:
Detect objects directly in front of itCan stop robot from hitting stray cats and
childrenReal time
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Collision avoidance Bumper Hits something and reverses
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Things that must work
A jumping off point
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Mechanical Devices
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Dagu Wild Thumper 4WD All-Terrain Chassis – Chrome
We have already purchased and received this chassis..
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Robots Motors Implement motor controllers for the 4
DC motors with brass brushes and 75:1 steel gearboxes to control the robot’s movements
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Solution: Opto-isolation Chips
Risk: Initial Motor Current Spike
Each of the 4 motors on the robot has its own controller, therefore we will need at least 4 opto-isolation chips to protect the motor controllers
Need 6 Channels minimum; undecided if we want 4 3-Channel chips or 12 1-Channel chips
Depends heavily on available board space
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Safety Concerns
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Safety Concerns
Laser Danger RF Exposure Possibility of Collision Small children
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Communication
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8 CH Wireless Audio Video 2.4 GHz 1500 mW Transmitter and Receiver Kit
Wireless video transmission – Safergaurd.com
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RC 4 channel control RC control signal
generators Transmitter
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Robot Parts and expenses Parts Quantity Cost ($)
Rover(robot chassis+4 DC motors)
1 265.95
Motor Controllers 4 Unknown
Remote control for rover
1 20-57
Receiver for remote control
1 13.99
Laser 1 19.69
Stepper Motor/Controller
1 Unknown
Camera 1 Unknown, ~$10?
Optical Encoder - -
Video Trans/Receiver Pair
1 160
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Processing Parts and expenses Parts Quantity Cost/quantity ($)
ARM Cortex-M0 1 20 (E-store)
Booster Parts Unknown Unknown
Opto-isolators 4 Unknown
SD Memory Unknown Unknown
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Task
Microcontroller (communications)
Matt Vincent Lex
Signal Processing Vincent Matt Aziz
Power and supplies
Tyler Aziz Lex
Optics and circuitry
Lex Aziz Tyler
Board layout Albert Matt Vincent
Image processing Matt Vincent Lex
Motors Tyler Aziz Albert
Mechanics Albert Lex Aziz
Division of labor
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QUESTIONS?
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Citations (1)
http://sites.google.com/site/todddanko/home/webcam_laser_ranger
(2)http://www.shokabo.co.jp/sp_e/optical/labo/lens/lens.htm
(3)Real-Time Embedded Systems and Components – Sam Siewert
(4)http://www.jameco.com/webapp/wcs/stores/servlet/Product_10001_10001_2113244_-1
(5)http://products.live.altium.com/#r10/explore/bd-PcbLevelDesign
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Citations (6) http://www.4pcb.com/about_us/ (7)
http://www.altera.com/devices/fpga/cyclone2/cy2-index.jsp
(8)http://www.arm.com/products/processors/cortex-m/cortex-m0.php
(9) http://www.instructables.com/id/Put-your-RC-car-under-computer-control/
(10) http://www.instructables.com/id/3-D-Laser-Scanner/
(11) NASA Curiosity