Final Design Report Project Title: Multi-Function Pontoon ... · Project Title: Multi-Function...

EEL 4924 Electrical Engineering Design

(Senior Design)

Final Design Report

25 April 2012

Project Title:

Multi-Function Pontoon

(MFP)

Team Members:

Name: Mikkel Gabbadon Name: Sheng-Po Fang

Project Abstract:

Our project consists of building a remote boat with various sensors and GPS navigation.

Temperature and distance will be the main sensors mounted on the boat. The information received from

the sensors will be transmitted to an LCD screen via Xbee. The LCD screen will be mounted on the

controller which sends information back to the main board—also Xbee. There will also be a GPS

module which will receive the GPS coordinates a manually take control of the steering of the boat to

make it travel to pre-programmed way-points; while simultaneously transmitted the location and

distance to waypoint information back to the laptop screen. The boat will be controlled remotely by our

personally designed motor controller. The controller will control one 3-phase motor that will allow the

boat to accelerate and a stepper motor which facilitates turning.

University of Florida EEL 4924—Spring 2012 25-Apr-12

Electrical & Computer Engineering

/13 Final Report: MFP

Table of Contents

Abstract………...............................................................................................................................1

Project Features/Objectives……………………………………..………...……………………3

Concept/Technology Selection..................................................................................................... 3

Project Architecture…………………………………………………………………………….7

Distribution of Labor.................................................................................................................... 10

Parts List…………....................................................................................................................... 10

Projected Timeline ........................................................................................................................ 11

Figures and Tables:

Figure 1: Final Boat Frame Design……………………………………………………..………3

Figure 2: Xbee…………………………………………….……….…………………….……….4

Figure 3: EM406-A ………..…………………………………………………………….………5

Figure 4: Basic MSP-430 processor………………………………………………….…………..6

Figure 5: Distance Sensor(XL Max-Sonar EZ2)…………………………………………………6

Figure 6: Project Flow-Chart…………………………………….……………………………….9

Figure 7: Motor Driver Schematic……………………………………………………………….11

Figure 8: Motor Driver Schematic……………………………………………………………….12

Figure 9: MSP430 PCB………………………………………………………………………….13

Table 1: Showing Parts List…………………………………………………….………………10

Table 2: Showing division of Labor…………………………………………………………….10




Project Features/Objectives:

The main objective of our project is to design a system test water quality

Remote controlled boat.

GPS navigation and display data

Distance sensors and collision detection

Display all sensor data on LCD and all GPS on monitor

Completely wireless communication

Technical Concepts/Technology Selection:

To make all of these features possible there are several key objectives that must be achieved.

Boat Frame Design

This is probably the most important step in project. The boat will have to be designed in such a

way to protect all of the electrical components from water and support the weight of the PCB, motors

and power source .We are going to buy the frame of the boat and then modify it. The main modifications

are the two floatation devices that will be added to both sides of the boat. This add-on is incredibly

important because not only does it decrease the like-hood of the boat sinking—by increasing the

buoyancy, the boat will be able to support more weight; especially because some of the components—

motors, battery will be heavy.




Figure 1: Final Boat Frame Design

Motor Controller

There will be two different motors on the boat. One motor is a 3-phase DC motor. This will be

controlled by a RC motor driver and the MSP430. The MSP 430 will send out a PWM signal to the

motor driver which will then turn the motor on/off an adjust speed. The second motor—stepper—will

control the direction the boat is travelling. The stepper motor will be controlled by a stepper motor

control circuit. The MSP-430 will send several signals to the PCB and according to the command the

boat will turn left or right.

Wireless Interfacing

We are going to use two pairs of wireless XBee’s. One Xbee pair will control the boat. One Xbee

will send out the motor control data, the other Xbee connected to the main board will receive the

commands and the MSP430 will then decode the subsequent message. The Xbee on the main boat will

also transmit the sensor data that the boat receives back to the controller Xbee where the message is

decoded and displayed. The third Xbee will transmit the received and decoded GPS data to the computer

monitor. This Xbee unlike the others has only one function.

Figure 2: Xbee




GPS

We will be using an EM-406A GPS to receive GPS data. The GPS will be connected to a RX pin

on the microprocessor UART. The information received by the GPS-microp will then be decoded into a

buffer where the location can be stored so that further processes can happen.

Figure 3: EM-406A

Information Display

We will be using a 2 line LCD screen to display the sensor data received. The information will

be received via Xbee, decoded by the microprocessor and then displayed on the LCD screen. The GPS

positional data will be decoded by the microprocessor on the main board and then displayed on the

computer motor.

Microprocessor

We choose an MSP-430 with 64 pins to all of the operations. Specifically, we chose the MSP-

430F2619 because each 64-pin MSP-430 had two UART modules. The UART modules are especially

important because the only way for the Xbee’s and the GPS to communicate with the MSP-430’s is via

UART.




Figure 4: Basic MSP-430 processor

Sensors

The sensors account for the main analog component of this experiment. We are using two main

sensors for our project—temperature, distance/depth and PH sensors. The temperature sensor will be

placed on the base on the boat directly into the water. The temperature sensor will be able to measure

water temperature. The distance sensor will be placed on top of the boat facing outwards. The distance

will be used as an object detection device.

Figure 5: Distance Sensor( XL-Maxsonar EZ2)




Miscellaneous

There are also costs that will be added to the project apart from the main components. Overall the boat

should cost around $50.

Enclosure: We need two enclosures. One for the controller device and one to protect the

circuitry on the main board

Fans: We need 2 fan blades to attach to the DC motor component.

Water Proofing : Expoxy will be used to make the sensors water-proof and still usable

Power-Source: We need a 7.4v lipo battery to power all the various motors on the main board.

Also, a 9V battery for the remote controller.

Circuitry: We will need a lot of basic circuit components. Capacitors, MOS, resistors etc.

Project Architecture

The design of the boat was split into several modules:

1. Sensors

Both sensors on the boat were connected to the ADC of the MSP430F2619. The sensor data was

sampled using the ADC sampling timer. The ADC data was then converted from voltage data into

useable data and then stored in a buffer.

2. Xbee Communication

There were three Xbee’s and each Xbee performed a completely different function:

Xbee Controller—This Xbee performed two functions. It was connected to the MSP on the

controller via the UART. When the user presses a button on the controller the Xbee will

transmit a Byte of data containing all of the switch data. This Xbee will also receive data




from the Xbee Boat. While sending data, the Xbee will also receive strings of sensor data for

the MSP-430 to decode.

Xbee Boat—This Xbee also performs two functions. It receives controller data from the Xbee

Controller for the MSP430 to decode. It also transmits the string of sensor data to the

controller Xbee.

Xbee GPS—This Xbee transmits the decoded GPS data to another Xbee connected to the

computer. This Xbee data is then displayed on the X-CTU program.

3. GPS control

The GPS is connected to the MSP430 via the UART. The GPS receives satellite data and transmits

them to the MSP-430. The MSP430 then decodes the NMEA GPS data and stores the location in

several buffers. When the boat is switched to GPS mode the boat will drive to a stored way-point

and return to the first point that the GPS recorded.




Figure 6: Project Flow-Chart




Bill of Materials

Parts List Quantity Price Total

Temperature Sensor 1 3.3 3.3

Distance sensor 1 40 40

Motors 4 12 48

GPS Module - EM-406A 1 40 40

MPS-430 2 7 14

Xbees 4 19 76

Enclosures 3 10 30

Boat Core 1 37.5 37.5

Driver 1 50 50

Li-Ion Battery: 7.4v 2 19.95 39.9

Total

378.7

Table 1: Showing Parts List

Distribution of Labor:

Task Mikkel Sheng-Po

Research 50 50

Create motor contoller 50 50

Create LCD interface 100 0

Create wireless system 70 30

GPS System 100 0

Sensor configuration 50 50

Frame creation 30 70

Create and Debugg PCB's 0 100

Table 2: Showing division of Labor




Appendices

Figure 7: Motor Driver Schematic




Figure 8: Motor Driver PCB




Figure 9:MSP430 PCB

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