ECE 477 Design Review Team 10 Spring 2007. Outline Project overviewProject overview...

ECE 477 Design Review ECE 477 Design Review Team 10 Team 10 Spring 2007 Spring 2007

OutlineOutline• Project overview Project overview • Project-specific success criteriaProject-specific success criteria• Block diagramBlock diagram• Component selection rationaleComponent selection rationale• Packaging designPackaging design• Schematic and theory of operationSchematic and theory of operation• PCB layoutPCB layout• Software design/development statusSoftware design/development status• Project completion timelineProject completion timeline• Questions / discussionQuestions / discussion

Project Overview: Hazard RoverProject Overview: Hazard Rover

• Remote-controlled tank with a robotic armRemote-controlled tank with a robotic arm• User controls tank and receives status information User controls tank and receives status information

from a control website through wi-fi interfacefrom a control website through wi-fi interface• Wireless webcam streams video back to control Wireless webcam streams video back to control

websitewebsite• Capabilities:Capabilities:

– Obstacle detection – stop tank when detectedObstacle detection – stop tank when detected– Light sensor/LED headlightLight sensor/LED headlight– Camera tilt movementCamera tilt movement

• Model of a tank to be used in a hazardous or Model of a tank to be used in a hazardous or polluted areapolluted area

Project-Specific Success CriteriaProject-Specific Success Criteria

• An ability to control the speed and direction of An ability to control the speed and direction of the vehicle (forward/backward).the vehicle (forward/backward).

• An ability to display system status (battery life, An ability to display system status (battery life, stopped/running) on an embedded web page.stopped/running) on an embedded web page.

• An ability to sense obstacles and stop the An ability to sense obstacles and stop the vehicle if it is near an obstacle.vehicle if it is near an obstacle.

• An ability to control the position of a robotic arm An ability to control the position of a robotic arm on the vehicle.on the vehicle.

• An ability to sense ambient light and turn on a An ability to sense ambient light and turn on a bright LED if there is not enough light.bright LED if there is not enough light.

Block DiagramBlock Diagram

2

ATD “PWM”

GPIO

GPIO

“PWM”1

1 1

Microcontroller

Built-inEthernet Interface

Wireless Bridge

WiFi EnabledPersonal Computer

Wireless Webcam

Vehicle Lighting Unit

Camera movement

servo motor (tilt)

DC-DC Converter

BatteryVoltage Regulator

To all components

DC Motor Control

LED Headlight

Light Sensor

Robotic Arm(DC motor)

X3

Obstacle Sensors

2

DC Motor DriverX2

Tank Drive motor

3ATD

(5V)

DC Motor Control

Tank steering motor

2

GPIO “PWM”1

GPIO

Component Selection RationaleComponent Selection Rationale

• 1. Microcontroller1. Microcontroller– Freescale MC9S12NE64Freescale MC9S12NE64– Built-in ethernet interfaceBuilt-in ethernet interface– Has more I/O pins than project requiresHas more I/O pins than project requires

• 2. Battery2. Battery– 8.4V NiMH Battery Pack8.4V NiMH Battery Pack– 4500 mAh, estimated battery life of ~2 hours 4500 mAh, estimated battery life of ~2 hours

before rechargebefore recharge


• 3. Voltage Regulator (8.4V to 5V)3. Voltage Regulator (8.4V to 5V)– Fairchild KA78T05 Positive Voltage RegulatorFairchild KA78T05 Positive Voltage Regulator– All components except microcontroller can run All components except microcontroller can run

on 5Von 5V– Capable of providing 5A, ~3 motorsCapable of providing 5A, ~3 motors

• 4. Voltage Regulator (5V to 3.3V)4. Voltage Regulator (5V to 3.3V)– Toshiba TA48033F Voltage RegulatorToshiba TA48033F Voltage Regulator– DC-DC step voltage for microcontrollerDC-DC step voltage for microcontroller


• 5. Light Sensor5. Light Sensor– Jameco CDS Photocell 202391Jameco CDS Photocell 202391– Provides variable resistance 1K-1M ohmsProvides variable resistance 1K-1M ohms

• 6. LED Cluster6. LED Cluster– SunLED XK4MDW62 LED ClusterSunLED XK4MDW62 LED Cluster– Provides bright light off of 5VProvides bright light off of 5V

• 7. Camera Tilt Servo Motor7. Camera Tilt Servo Motor– HS-422 Servo motor with “C” bracket attachment for HS-422 Servo motor with “C” bracket attachment for

tilt capabilitytilt capability– Runs off 5VRuns off 5V


• 8. DC Motor Control8. DC Motor Control– Fairchild FAN8082 Motor DriverFairchild FAN8082 Motor Driver– Runs off 5VRuns off 5V– Drives tank steering motors as well as all Drives tank steering motors as well as all

robotic arm motors.robotic arm motors.• 9. Drive Motor Control9. Drive Motor Control

– Tecel D200 High Power H-Bridge DriverTecel D200 High Power H-Bridge Driver– Runs off 5V, capable of driving the motorRuns off 5V, capable of driving the motor– Noisy component – on separate boardNoisy component – on separate board


• 10. Wireless Bridge10. Wireless Bridge– D-Link Wireless Bridge DWL-G820D-Link Wireless Bridge DWL-G820– Instantly compatible with Ethernet-enabled Instantly compatible with Ethernet-enabled

microcontrollermicrocontroller• 11. Wireless Webcam11. Wireless Webcam

– D-Link Wireless Webcam DCS-G900D-Link Wireless Webcam DCS-G900– Instantly capable of broadcasting live video Instantly capable of broadcasting live video

feed to the webfeed to the web


• 12. Robotic Arm12. Robotic Arm– Jameco Robotic Arm Trainer KitJameco Robotic Arm Trainer Kit– 5 degrees of freedom, controlled by servo 5 degrees of freedom, controlled by servo

motorsmotors• 13. Obstacle Detection13. Obstacle Detection

– Sharp GP2Y0A02YK Infrared SensorSharp GP2Y0A02YK Infrared Sensor– Provides analog signal 0-5VProvides analog signal 0-5V

Packaging DesignPackaging Design

20 “5 “

15 “

PCB Board

Battery

Wireless Bridge

Wireless CameraLight SensorLED

Front Distance Sensor Rear

Distance Sensor

4“

9“

4“

Schematic/Theory of OperationSchematic/Theory of Operation

• Microcontroller Microcontroller

Distance SensorDistance Sensor

• The output voltage is a function of distance The output voltage is a function of distance from the obstaclefrom the obstacle

Light SensorLight Sensor

• The output voltage is a function of amount of The output voltage is a function of amount of ambient light presentambient light present

Power SupplyPower Supply

• The 8.4V supply powers all motor drivers: FAN8082 The 8.4V supply powers all motor drivers: FAN8082 and Tecel D200and Tecel D200

• The 5V supply powers all other components except The 5V supply powers all other components except for the microcontrollerfor the microcontroller

• The 3.3V supply powers the microcontrollerThe 3.3V supply powers the microcontroller

Ethernet InterfaceEthernet Interface

• Built in magnetic filterBuilt in magnetic filter

FAN 8082FAN 8082

• It drives DC motors and steering motor It drives DC motors and steering motor

Wireless CameraWireless Camera

• It operates independently of the microcontrollerIt operates independently of the microcontroller

H-BridgeH-Bridge

PCB LayoutPCB Layout

Motor Drivers: FAN8082Motor Drivers: FAN8082• Left corner of the Left corner of the

boardboard• Motor drivers Motor drivers

placed together to placed together to group noise group noise production production

Power Supply and Decoupling capacitorsPower Supply and Decoupling capacitors

• The two voltage regulators supply the three voltages The two voltage regulators supply the three voltages necessary to run the circuit: 8.4V, 5V, 3.3Vnecessary to run the circuit: 8.4V, 5V, 3.3V

• Opposite corner from the microcontrollerOpposite corner from the microcontroller

Microcontroller and EthernetMicrocontroller and Ethernet

HeadersHeaders

• Headers for components off the boardHeaders for components off the board• The Tecel 200 has separate boardThe Tecel 200 has separate board

Software Design/Development StatusSoftware Design/Development Status

• Two partsTwo parts– User interface: Using C# on Visual Studio.User interface: Using C# on Visual Studio.

• Controller: Keyboard and mouseController: Keyboard and mouse• Status display: Battery life, stop, directionStatus display: Battery life, stop, direction• UDPUDP

– MicrocontrollerMicrocontroller• Using subset of C on CodeWarriorUsing subset of C on CodeWarrior• Using OpenTCP stack for webserverUsing OpenTCP stack for webserver• Polling loopPolling loop• PWM, ATD, SCI, EPHYPWM, ATD, SCI, EPHY

Software Design/Development StatusSoftware Design/Development Status

Software Design/Development StatusSoftware Design/Development StatusStart/Reset

Initialization

Drive

Arm

Pan/Tilt

Get flags

Forward/reverse

Turn

Move Arm

Move camera

Y

Y

Y

N

N

N

Read light sensor

Dark?

LEDs onY

Read Front Distance

Close?

STOP

Y

Read Rear Distance

Close?

STOP

Y

N

N

N

Project Completion TimelineProject Completion Timeline

WeekWeek 2/262/26 3/53/5 3/123/12 3/193/19 3/263/26 4/24/2 4/94/9 4/164/16 4/234/23 4/304/30

PCB/ PCB/ SchematicSchematic

PCB SolderingPCB Soldering

Software Software DesigningDesigning

PackagingPackaging

TestingTesting

DocumentationDocumentation

Questions / DiscussionQuestions / Discussion

ECE 477 Design Review Team 10 Spring 2007. Outline Project overviewProject overview...

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