Daredevil Robot Direction Module (DRDM) Senior Design II Midterm Presentation.
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Transcript of Daredevil Robot Direction Module (DRDM) Senior Design II Midterm Presentation.
![Page 1: Daredevil Robot Direction Module (DRDM) Senior Design II Midterm Presentation.](https://reader036.fdocuments.net/reader036/viewer/2022062806/5697bfd81a28abf838caf320/html5/thumbnails/1.jpg)
Daredevil Robot Direction Module (DRDM)
Senior Design IIMidterm Presentation
![Page 2: Daredevil Robot Direction Module (DRDM) Senior Design II Midterm Presentation.](https://reader036.fdocuments.net/reader036/viewer/2022062806/5697bfd81a28abf838caf320/html5/thumbnails/2.jpg)
DRDM Team
Kyle InmanComputer Engineer• Design prototype• Website•Software Design
Russell GreenElectrical Engineer• Design prototype• Research• PCB Layout and Design
Dr. Robert ReeseTeam Advisor
Mukul DeshpandeComputer Engineer• Design prototype• Website•Serial Interface
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Outline• Problem
• Solution
• DRDM System Overview
• Constraintso Technicalo Practical
• Hardware
• Testing
• Future Work
• Questions
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Problem and
Solution
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Problem
Currently, hobbyists and small robotics developers only have access to single direction range finding devices that require the user to perform timing calculations and manipulate trigger signals themselves.
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SolutionThe DRDM will detect obstacles in four
directions and transmit proximity and distance information to the user over a serial bus.
o User interaction is strictly command based, no trigger pulses required.
o All timing and distance calculations are performed for the user.
o The module will have three configurable measurement modes.
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What is the DRDM?
The DRDM is an ultrasonic sensor module that will typically be used by a robot.
This device will be easily mounted and stackable to fit a variety of platforms.
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System Overview
-The user will command the DRDM over a serial interface.
-A microprocessor will fire the sensors and time the return signals.
-The distance data will be transmitted back to the user.
User
DRDM
Sensor(s)
Microprocessor
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Design Constraints
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Technical ConstraintsType Description
Range The DRDM must detect obstacles up to 3 meters away and as close as 6 centimeters.
Field of Vision The DRDM must be able to detect obstacles in 4 directions.
Power Requirements
The DRDM must operate on 5V power source.
Communication Interface
The DRDM must support three types of serial interfaces: SPI, I2C, and UART.
Update Frequency The DRDM must be able to provide an updated mapping within 90 ms.
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Practical ConstraintsManufacturability
The DRDM must satisfy the following dimensions:o Diameter: approx 3 in.o Thickness:approx 1.5 in.
The DRDM must also be stackable and mountable in a variety of configurations.
o Keeps the device small enough to fit almost any platform.
o Versatile integration options.
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Practical ConstraintsSustainability
The DRDM must have a modular design that uses commercially available interchangeable parts.
o If a portion of the robot malfunctions, it can be replaced inexpensively and the DRDM can continue to function.
- Example: one sensor malfunction would not affect the remaining three.
o Want the DRDM to be as maintenance free as possible by using a simple software solution that can be easily updated through the UART connection.
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Hardware
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Sensor Schematic
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Sensor PCB
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Sensor PCB (soldered)
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Sensor PCB (soldered)
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Testing
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Testing Procedures
● Verify the control transistor switch can turn the MAX232 on and off.
● Verify that the MAX232 is functioning and can amplify our input signal properly
● Verify that the transmitting transducer is sending a pulse.● Verify that the op-amps are powered temporarily while the
MAX232 is off.● Verify that the comparator output will signal that a return pulse
has been received. ● Test the complete function of the sensor with our master and
slave software.
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Potential Problems in Testing
● Having to change the resistor values on the opamps for a better gain
● A pulse is not sent out from the Transmitter transceiver
● Our technical constraints may not be met during testing
● Microcontroller PCB or Sensor PCB do not function correctly
● Replacing burnt out components on either PCB (i.e. capacitors)
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Future Work
• Begin testing of sensor PCB and microcontroller board.
● Debug the Sensor PCB or Microcontroller PCB based on the problems found during testing
● Revise test PCB for final PCB design and create final microcontroller baseboard PCB.
● Start on packaging for finished product.
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References[1] Ultrasonic vs Infrared
[2] R.Reese, B.Jones, and J.W.Bruce. Microcontrollers: From Assembly Language
to C Using the PIC24 Family. Boston, MA: Course Technology, 2009.
[3] J. Bryant. Using Op Amps as Comparators. Norwood, MA, 2006-2011. Online: http://www.analog.com/static/imported-files/application_notes/AN-
849.pdf
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Daredevil Robot Direction Module (DRDM)
Senior Design IIMid-semester Presentation