ECE 477 Final Presentation Group 1 Spring 2005 Zeeshan Nathan Nakul Andrew FIRE Bot.

ECE 477 Final Presentation ECE 477 Final Presentation Group 1 Group 1 Spring 2005 Spring 2005

Zeeshan NathanNakul Andrew

FIRE Bot

OutlineOutline

• Project overviewProject overview• Block diagramBlock diagram• Professional componentsProfessional components• Design componentsDesign components• Success criteria demonstrationsSuccess criteria demonstrations• Individual contributionsIndividual contributions• Project summaryProject summary• Questions / discussionQuestions / discussion

Project OverviewProject Overview• FIREbot is a fully autonomous robot intended to FIREbot is a fully autonomous robot intended to

protect a home or small building from fires.protect a home or small building from fires.• Patrols an indoor area or waits passively while Patrols an indoor area or waits passively while

searching for flamessearching for flames• Capable of locating, approaching, and extinguishing Capable of locating, approaching, and extinguishing

flamesflames• Uses a standard household fire extinguisher and an Uses a standard household fire extinguisher and an

easily rechargeable batteryeasily rechargeable battery• Features an easy and convenient user interface to let Features an easy and convenient user interface to let

you select its mode of operation and see what its you select its mode of operation and see what its currently doingcurrently doing

Block DiagramBlock DiagramPower Supply

Universal Flame Detector

Wide Angle Flame Detectors

Narrow Angle Flame Detectors

Distance Sensors

ModeSwitch

Siren

Sensor Platform Servo

Microcontroller

Motor Drivers

LCD Output

Debug Port

Extinguisher Trigger Servo

Professional ComponentsProfessional Components

• Constraint analysis and component selection Constraint analysis and component selection rationalerationale

• Patent liability analysisPatent liability analysis• Reliability and safety analysisReliability and safety analysis• Ethical and environmental impact analysisEthical and environmental impact analysis

Constraint AnalysisConstraint Analysis

• Mechanical/Structural ConstraintsMechanical/Structural Constraints– Capable of carrying and triggering fire Capable of carrying and triggering fire

extinguisherextinguisher– Capable of positioning all sensors to Capable of positioning all sensors to

receive necessary datareceive necessary data– Capable of being driven by small DC Capable of being driven by small DC

motorsmotors– Capable of carrying and Capable of carrying and

protecting electronicsprotecting electronics


• Electrical ConstraintsElectrical Constraints– Powered by On-board batteryPowered by On-board battery– 4 Supply Rails4 Supply Rails– Must be robust and power-efficientMust be robust and power-efficient– Microcontroller receives all inputs and Microcontroller receives all inputs and

drives all outputsdrives all outputs– Electronics to interface to each input Electronics to interface to each input

sensor and each output devicesensor and each output device


• Software ConstraintsSoftware Constraints– Software is interrupt-driven to allow real-Software is interrupt-driven to allow real-

time responsestime responses– Control state machines to handle high-Control state machines to handle high-

level intelligencelevel intelligence– Low-level state machines to control all Low-level state machines to control all

hardware moduleshardware modules

Patent Liability AnalysisPatent Liability Analysis

• Patents exist forPatents exist for– IR Fire detection systemIR Fire detection system– IR Obstacle avoidance systemIR Obstacle avoidance system– ““Automated Fire Protection SystemAutomated Fire Protection System””

“Designed for the protection of naval “Designed for the protection of naval vessels from the danger exhibited by vessels from the danger exhibited by ordnances exposed to heat in the event of ordnances exposed to heat in the event of a fire.”a fire.”

Reliability/Safety AnalysisReliability/Safety Analysis

• Microcontroller analysisMicrocontroller analysis– MTTF = 1.23MTTF = 1.23

• MBR160 Switching supply schotkey diodesMBR160 Switching supply schotkey diodes– MTTF = 2.2MTTF = 2.2

• 5v linear regulator5v linear regulator– MTTF = 1.88MTTF = 1.88– Reduced by adding large heat sink to Reduced by adding large heat sink to

dissipate extra heatdissipate extra heat

Ethical/Environmental AnalysisEthical/Environmental Analysis

• In the current version of production, there are no warning labels anywhere on the robot.

• No safeties mechanisms present on the robot other than fuses.

• If the fire is particularly large, the robot may not be capable of putting it out.

• All rechargeable batteries pose a potential environmental hazard due to the presence of lead-acid.

• All printed PCBs have lead as well.

Design ComponentsDesign Components

• Packaging design considerationsPackaging design considerations• Schematic design considerationsSchematic design considerations• PCB layout design considerationsPCB layout design considerations• Software design considerationsSoftware design considerations

Packaging DesignPackaging Design

Level 2 bolt holes Extinguisher strap mounting holes

Motor mounting holes

User interface mounting holes

Servo mounting holes

Siren mounting holesBase – top view

Packaging DesignPackaging DesignLevel 2 mounting holes

Tower mounting holes

UVtron mounting holesLevel 2 – top view

Tower – sweeping turntable

Tower – narrow angle sensor

Packaging DesignPackaging Design

Angular bracket

RS232 debug interface

Mode selection switch

Power switch

4x20 LCD display

Schematic DesignSchematic Design• Power supplyPower supply

– Noise isolation accomplished with four power rails and two Noise isolation accomplished with four power rails and two ground railsground rails

• Sensor interface circuitsSensor interface circuits– Signal amplification required for low current-output Signal amplification required for low current-output

photodiodesphotodiodes– Low noise requirements for most A/D inputsLow noise requirements for most A/D inputs

• Shift registersShift registers– Reduce microcontroller I/O pinsReduce microcontroller I/O pins– Used for LCD and DC motor control outputsUsed for LCD and DC motor control outputs

• Motor interface circuitsMotor interface circuits– H-bridges for PWM motor controlH-bridges for PWM motor control– Dedicated power rail for servosDedicated power rail for servos

PCB Layout DesignPCB Layout Design

PCB Layout DesignPCB Layout Design

AT

Mega32

Digital Switching

Power Supply

Servo Switching

Power Supply

Serial Debug

Port Siren

Analog Flame &

Proximity Sensors`

Servo Motor Drivers

12V

Switch

5V Linear

Regulator

DC Motor

H-Bridges

LCD

DisplayTurntable

Mounted

PCB

Software DesignSoftware Design

• Code size: 14KBCode size: 14KB• Software is heavily modularizedSoftware is heavily modularized• All modules are interrupt driven state All modules are interrupt driven state

machinesmachines• Software hierarchically organized into master Software hierarchically organized into master

control, mode control, and hardware control, mode control, and hardware interface control modulesinterface control modules

• Organized development Organized development environment with a revisionenvironment with a revisioncontrol systemcontrol system

Software DesignSoftware DesignMaster Software

Mode Control Software

Hardware-Interface Software

Hardware


• Master software - top level state machineMaster software - top level state machine• Mode control softwareMode control software

– One Eye Open ModeOne Eye Open Mode– Patrol ModePatrol Mode– Find-the-Fire Find-the-Fire – ApproachApproach– ExtinguishExtinguish– Debug interfaceDebug interface


• Hardware-Interface softwareHardware-Interface software– Universal flame detectorUniversal flame detector– Drive motorsDrive motors– Obstacle/Proximity sensorsObstacle/Proximity sensors– Narrow angle flame detectorNarrow angle flame detector– Scanner & trigger servosScanner & trigger servos– Wide angle flame detectorWide angle flame detector– ADC controllerADC controller– LCD interfaceLCD interface– UART (debug) interfaceUART (debug) interface

Success Criteria DemonstrationsSuccess Criteria Demonstrations

• Ability for the software to maneuver the Ability for the software to maneuver the robot on an arbitrary indoor surface, robot on an arbitrary indoor surface, avoiding walls or other objects while avoiding walls or other objects while maneuvering.maneuvering.


• Ability to interface the microcontroller with Ability to interface the microcontroller with an LCD and display state information on the an LCD and display state information on the screen.screen.


• Ability to detect a nearby fire with minimal Ability to detect a nearby fire with minimal false positives (from non-flame heat false positives (from non-flame heat sources) and determine the fire’s position sources) and determine the fire’s position relative to the robot.relative to the robot.

• Ability to maneuver the robot into position Ability to maneuver the robot into position to extinguish a fire based on data from the to extinguish a fire based on data from the sensors.sensors.


• Ability to activate a fire extinguisher to Ability to activate a fire extinguisher to extinguish a fire when the robot is already extinguish a fire when the robot is already in the correct position.in the correct position.

Individual ContributionsIndividual Contributions

• Team Leader – Nathan AinsworthTeam Leader – Nathan Ainsworth• Team Member 2 – Nakul JeirathTeam Member 2 – Nakul Jeirath• Team Member 3 – M. Zeeshan KhanTeam Member 3 – M. Zeeshan Khan• Team Member 4 – Andrew PennerTeam Member 4 – Andrew Penner

Team Leader – Nathan AinsworthTeam Leader – Nathan Ainsworth

• Coordinated Efforts of all team members Coordinated Efforts of all team members (“Supervised”)(“Supervised”)

• Performed overall Systems Engineering of Performed overall Systems Engineering of Fire-Finding ProcessesFire-Finding Processes

• Developed many blocks of the schematicsDeveloped many blocks of the schematics• Developed overall software structureDeveloped overall software structure• Developed many software blocksDeveloped many software blocks

Member 2 – Nakul JeirathMember 2 – Nakul Jeirath

• Designed LCD circuitryDesigned LCD circuitry• Wrote software for modules:Wrote software for modules:

– Wide angle flame detectorWide angle flame detector– Patrol modePatrol mode– Find the fire stateFind the fire state

• PCB layoutPCB layout• PCB PopulationPCB Population• Mechanical structure designMechanical structure design

Member 3 – Zeeshan KhanMember 3 – Zeeshan Khan

• Wrote software for modules:Wrote software for modules:– UART interfaceUART interface– Obstacle detectionObstacle detection– ADCADC

• Software debuggingSoftware debugging• Populated PCBPopulated PCB• Team webmasterTeam webmaster• Managed CVS archivesManaged CVS archives

Member 4 – Andrew PennerMember 4 – Andrew Penner

• Designed power suppliesDesigned power supplies• PCB LayoutPCB Layout• PCB PopulationPCB Population• Mechanical structure designMechanical structure design• Hardware testingHardware testing• Software debuggingSoftware debugging

Project SummaryProject Summary

We learned the importance of…We learned the importance of…• modularized softwaremodularized software• capable debug interfacecapable debug interface• planning top-down & implementing bottom-upplanning top-down & implementing bottom-up• maintaining a well organized development maintaining a well organized development

environmentenvironment– revision control systemrevision control system– standards in software & standards in software &

schematic designschematic design• strong teamwork skillsstrong teamwork skills

Project SummaryProject Summary

Suggestions for version 2Suggestions for version 2• Choose a different narrow-angle sensorChoose a different narrow-angle sensor• Use more than one universal flame detectorUse more than one universal flame detector• Add self-charging capabilityAdd self-charging capability• Choose distance sensors with digital output to Choose distance sensors with digital output to

reduce noisereduce noise• Use a more sophisticated approach algorithmUse a more sophisticated approach algorithm• Upgrade microcontroller for increased flexibilityUpgrade microcontroller for increased flexibility• Correctly implement power shutdown featuresCorrectly implement power shutdown features• Upgrade packaging to better protect electronicsUpgrade packaging to better protect electronics• Use a COUse a CO22 fire extinguisher fire extinguisher• Integrate fly wires into PCB layoutIntegrate fly wires into PCB layout

Questions / DiscussionQuestions / Discussion

ECE 477 Final Presentation Group 1 Spring 2005 Zeeshan Nathan Nakul Andrew FIRE Bot.

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