Team Members: Arsid Ferizi; Cameron Foss; Noah Pell; Michael Rizzo; Advisor: Prof. Jackson

Midterm Design ReviewTeam Remote Environmental Sensing Tram (REST)November 25th, 2013

Monitoring Forest HealthGlobal Climate Change• Human-based control systems are

limited

Forest Health Monitoring• Inadequate means of analyzing

a forest’s response to a variant

This graph, based on the comparison of atmospheric samples contained in ice cores and more recent direct measurements, provides evidence that atmospheric CO2 has increased since the Industrial Revolution.

Proposed Solution: Aerial Tram

Tram System Collecting Data in Harvard Forest Photo Courtesy of Professor Siqueira

• REST will traverse a 50m transect, provide continuous on site data acquisition, and trend monitoring via a website

Proposed Solution: High Level Overview Tram• Autonomously collects data from sensors• Transmits collected data to the base station

Tower (Base Station)• Communicates with tram, to give commands and receive environmental data• Send and receive commands and data to the UI over Ethernet

User Interface• Access and display recorded and real time data• Process user commands and transmit them to the base station

Solution: Block Diagram

User InterfaceRequirements:• Allows user to change multiple settings on the aerial

tram• Allows user to send controls for aerial tram to execute

in real time• Deliver sensor data visuals to user • Process and display image and video data for the user

Implementation:• Website

• Supports graphical representation of environmental data

• Scripted input to direct operation of tram• Supports images and video

http://mdw.srbc.net/remotewaterquality/data_viewer.aspxThis website is used by a company to display their data collected from remote sensors

User InterfaceCurrent Accomplishments:• Python script polls the output file from data

logger every 30 seconds, and updates if necessary• Google Charts graphs and Google Spreadsheets

tabulates the gathered data• Motor moves and pictures are uploaded when

commanded by the website

CDR Primary Goals:• More attractive and user friendly • Improved data visuals • Parameterized

• Improved integration of user commands• Allow for user to input a testing schedule

and state transitionsCurrent graph of the received sensor data

TX/RX for UI-Base Station CommunicationRequirements:• Send and receive data over the internet to the aerial tram

Implementation:• Landline to base station

Category 5 Cable

Tram System – The “Base Station” is the shack located behind the blue structure

Photo Courtesy of Professor Siqueira

http://picclick.com/NEW-1-FOOT-PINK-CAT-5E-350MHZ-UTP-ETHERNET-NETWORK-281140500650.html

Tx/Rx for Base Station-Tram Communication• Current Implementation:

• Data Logger connects to on-tram computer through EtherComm TX Port Micro Switch• Ethernet from computer to base station

• Proposed Communication Options:• Move Computer off Tram to Base Station and establish wireless communication• Industrial Cat5 cable

XBEE Series 1 TransmitterAt Base Station

DEV-11837 RaspberryPi Model A(with weather resistant case)

XBEE ZB Pro Series 2Transmitter on Tram XBEE ZB Pro Series 2

Transmitter on Base Station

XBEE Series 1 TransmitterAt TramArduino Uno - R3 DEV-11021

Wireless RequirementsRequirements:• Wireless• Range of at least 50m• Adequate data rate• Reasonable power consumption

Implementation:• RaspberryPi Model A to Xbee ZB RF module

• Outdoor Range = 120m• Data Rate = up to 1Mbps• Power: 5V @ 300mA

• Arduino Uno-R3 to Xbee Series 1 RF module• Outdoor/RF LOS Range = 100 m• Data Rate = 250 kbps• Power: 3.3 V @ 50mA

XBEE ZB Pro Series 2Transmitter on Tram

XBEE ZB Pro Series 2 Transmitter on Base Station

XBEE Series 1 TransmitterAt Tram

XBEE Series 1 TransmitterAt Base StationArduino Uno - R3 DEV-11021

DEV-11837 RaspberryPi Model A(with weather resistant case)

Wireless vs. Wired Trade-Offs• Wired Connection

• Basic Cat5 subject to environmental deterioration

• Industrial cables recommended for outdoors

• Industrial Cable- ~$100

• Wireless Solution:• Less maintenance• Lower data transfer rates• ZigBee- ~$40

Conclusion: We prefer the wireless solution, however trade-offs indicate that either option will suffice. We will leave the option of wireless capabilities to the User.

Tx/Rx (Tram-Base Station-Website)Current Accomplishments:• Wired transmission from tram to website • Wireless solution determined option at users preference

CDR Secondary Goal:• Construct wireless modules solution• Order industrial cat5 cables

Control System (Base Station)Requirements:• Non-technical • Process commands sent by the web application• Perform data processing and storage at the base station• Manage autonomous tram operation

Implementation:• Driven by the state machine

• Labview

• Control of the virtual instruments• Python

• Programmable connection to the network• Python and Labview

LGX AU140 Extended Temperature Intel Atom Computer Platform

http://www.logicsupply.com/media/manuals/LGX_AU140_Fanless_Computer_SpecSheet.pdf

Control System (Base Station)Current Accomplishments:• State execution dictated by schedule• Data Logger collects data when commanded by Labview• Motor moves by 1m or 10m increments when commanded by Labview

CDR Primary Goals:• Parameterized• Scheduling and state transitions based on user input

• Power down state

Check Time

Initialize System

Move TramTake

Measurements

Move Back

Motor Controls (Base Station)

AR66AKD-T10-3, AlphaStep Closed Loop Stepper Motor and Drive with Built-in Controller

http://www.orientalmotor.com/products/stepper-motors/AR-series-stored-data-controller-dc.html

Requirements:• Move the tram according to a user defined distance

Implementation:• Stepper Motor and Driver

• Low vibration• 3 N•m torque up to 150 rpm

Current Accomplishments:• Movement at a constant predefined speed

CDR Primary Goals:• Movement necessary to achieve user defined

distance

Sensors and Controls (Tram)Requirements:• Capable of sensing radiation, vibration and distance • Capable of visually observing surroundings • Lightweight, reliable, reasonable power consumption

Implementation:• Four Channel Net Radiometer

• Pyranometer – SW 285-3,000 nm• Pyrgeometer – LW 4,500-40,000 nm

• Spectral Reflectance Sensor • Normalized Difference Vegetation Index (NDVI)

• 531±3 and 570±3 nm wavelengths • Photochemical Reflectance Index (PRI)

• 630±5 and 800±5 nm wavelengths

Four Channel Net Radiometer

Spectral Reflectance Sensorhttp://www.hukseflux.com/product/nr01-net-radiometer?referrer=/product_group/pyranometerhttp://www.hoskin.ca/catalog/index.php?main_page=product_info&products_id=2611

Sensors and Controls (Tram)Implementation:• Accelerometer

• Resolution – 3.9 mg/LSB (typical)• Shock survival - 10,000 g (maximum)• SPI or I2C digital interface• Power consumption - 140 μA (typical) at 3.3 V

• Ultrasonic sensor• Suitable for outdoor applications• Distance - 50cm to 10m• Accuracy - within +/-1% over the distance range• Resolution - 10mm (max)• Power consumption – 3.1mA at 5V

HRXL-MaxSonar®-WRLT™

ADXL335 - triple-axis accelerometer

http://www.adafruit.com/products/163?gclid=CJ2B0t-mmroCFZKk4Aod9wkAZQhttp://www.maxbotix.com/Ultrasonic_Sensors/MB7386.htm

Sensors and Controls (Tram)Implementation: • Webcam

• HD video – 720p/1080p • Photos – Up to 15 megapixels

• Infrared Thermometer• Operating Range - -55 to 80C• Sensitivity - 60 uV per C

Logitech HD Webcam C920

http://www.logitech.com/en-us/product/hd-pro-webcam-c920

Apogee Infrared Thermometer

http://www.hoskin.ca/catalog/images/Apogee_SI-111.jpg

Sensors and Controls (Tram)Requirements:• Organize sensor data and commands into packets for

communication between base station and tram.

Implementation:• CR1000 Data Logger

• Analog inputs • 16 single-ended (8 differential) channels

• Digital I/O• SDI-12, UART, RS232

• 4MB memoryCR1000 Data Logger

http://www.campbellsci.com/cr1000

Sensors and Controls (Tram)Current Accomplishments:• Sensors(4 channel radiometer, NDVI, PRI, Infrared Thermometer, Webcam, Ultrasonic) collect data when

labview sets a port on the data logger • Camera takes a picture via python script, and uploads it to website

Current Set backs:• All of the data logger’s analog channels have been used/digital accelerometers unable to communicate

with logger directly• Ultrasonic sensor is not suitable for outdoor applications

CDR Primary Goals:• Parameterized • Ultrasonic sensor better suited for the application• Accelerometer communicating with Raspberry Pi board and python script

Power Management (Tram)

Requirements: • 12 Volt supply @ 350 mA

Current Implementation:• Wired connection

Device of Interest

Max Voltage(V) Max Current (A) Avg. Power (W) Power (W/h) Average Daily Operation Time(hrs)

Ultrasonic Sensor

12 50m .6 4.8 8

NDVI(x2) 12 383u 9.552m 76.716m 8

PRI(x2) 12 398u 9.192m 73.536m 8

Data Logger 12 100m 1.2 9.6 8

Ethernet Switch 12 158m 1.896 15.168

Total Tram 12 258m 3.096 24.768 8

Power Management (Tram)Wireless Charging and Management Solution:• Inductive Charging

• 12VDC rechargeable Battery

Current Accomplishments:• Total Power calculations and Wireless Charging Block diagram

CDR Goals:• Full Charging circuit design

Power Management (Tram)Requirements:• Switches to battery source if power line goes down• Enters a low power state

Implementation:• RaspberryPi

• Power consumption: 5V @ 300mA• Battery

• 12VDC 12Ah• Provides at least 24 hrs of battery supply while land line

is down.• Would like to implement a wireless charging station via

Inductive charging to maintain a charged battery.

Proposed MDR DeliverablesPrimary Goals:• Demonstration of data collection from environmental sensors

• Demonstration of tram and base station communication

• Demonstration of website and tram basic interaction• Tram is able to send and receive test data• Website displays test data, and is able to send text data to tram

Proposed CDR DeliverablesPrimary Goals:

• Website – attractive UI with adequately functioning user input (commands, test schedule, state transitions) and visuals (graph, table, pictures)

• Base Controls - scheduling and state transitions based on user input, and a power down state• Sensors and Motor Controls – integration of accelerometer and motor speed based on user input• Power Management and Communication – integration of secondary power supply, and power controller

Secondary Goals:• Website and Base Controls – error handling• Sensors and Motor Controls – sensor measurements based on user input and error handling• Power Management and Communication – wireless communication between tram sensors/webcam and

base station

Tertiary Goals:• Sensors and Motor Controls – positioning system• Power Management and Communication – error handling

Costs and WeightItem Cost

RaspberryPi Model A $29.95

Weather Case for RaspPi

<$10

Battery x2 $51.54

Accelerometer $24.95

UltraSonic Sensor $119.95

Totals $236.39

Item Tram Weight

Tram and support frame 35lbs

Battery 14.33lbs

Total 49.33

Team REST’s ScheduleTask Task Leader Week of

December 16thWeek of December 23rd

(Break Week)

Week of January 2nd

Week of January 6th

Week of January 13th

Week of January 20th

Week of January 27th

Week of February3rd

Week of February10th

Week of February17th

Primary Goals:

Integration of accelerometer Mike x x

Attractive and functional UI Arsid x x x x

Power Management (Base Station/Tram)

Cameron x x

Scheduling and state transitions

Noah x x x x x x

Secondary Goals:

Website and Base Controls – error handling

Arsid/Noah x x x

Sensors and Motor Controls-error handling/user commands

Mike x x x

Motor Controls – user commands

Cameron x x

Tertiary Goals:

Positioning system Mike x x

Power Management and Communication-error handling

Cameron x x x

Questions….