PRAlpha Inc. Rick Wong (CEO), Jessica Sun (CFO), Ye Feng (CTO) Simon Fraser University, ENSC...
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Transcript of PRAlpha Inc. Rick Wong (CEO), Jessica Sun (CFO), Ye Feng (CTO) Simon Fraser University, ENSC...
PRAlpha Inc.
Rick Wong (CEO), Jessica Sun (CFO), Ye Feng (CTO)Simon Fraser University, ENSC 305/440, May 2008
Our Team
23/4/21 ENSC 305/440 Project 2
Team Roles Rick Wong (CEO)
High level design, Hardware/firmware design
Feng Ye (CTO)PC design, Marketing
Jessica Sun (CFO)
Hardware/firmware design, Budgeting
Common Role
R&D, Software design, Documentation, Q/A
23/4/21 ENSC 305/440 Project 3
Outline Our Team Motivation & Marketability System Overview & High Level Design Implementation & Functionality Sub-module Highlights System Review Financial & Scheduling Future Development Final Thoughts
23/4/21 ENSC 305/440 Project 4
Motivation Worry about your house, pets and plants when
you are away?
Want to use the device in your house remotely?
Want to protect your privacy?
23/4/21 ENSC 305/440 Project 5
Our Solution is :
Marketability
Potential Market Families having trip for a long period Old and Handicaps Doctors and nurses
Marketing Skill Rentable On-site checking as backup Potentially decrease insurance fee
23/4/21 ENSC 305/440 Project 6
System Overview
23/4/21 ENSC 305/440 Project 7
Internet
Wireless Network
Control ICR protocol device
Monitor house temperature
Monitor house situation
Functionality Mobility Real time video Sensor feedback Remote control
23/4/21 ENSC 305/440 Project 8
Design Consideration Major focus on Extension Ability
Reliability (reset modules remotely)
Safety (safe power and distance sensor)
User friendly (cross-platform, no install)
23/4/21 ENSC 305/440 Project 9
Overall System
23/4/21 ENSC 305/440 Project 10
I2C BUS
Web GUI
CMM
SCM ACM
DistanceTemperatureIR
Off Board
ACK
Results
Motors
UDM
Daemon Camera
Browser
Internet
UART
PWMUltrasonic
ADCCTC
LCD
DBM
SPI
On Board
Remote
Pico
User
Communication UART
Communicate between PC and CMM with 9600 bps rate Not good for a multi-master system
I2C Use to build our BUS to communicate between modules Use only two bi-direction BUS line: SDA and SCL Multi-masters with BUS conflict solution Support up to 127 devices
SPI Communicate between DBM and LCD
23/4/21 ENSC 305/440 Project 11
Sub-Module Highlights On Board Sub-Module
CMM (Center Manager Module) UDM (User Define Module) SCM (Sensor Control Module) ACM (Action Control Module)
Off Board Sub-Module DBM (Debug Module)
PC Daemon GUI (Graphic User Interface)
23/4/21 ENSC 305/440 Project 12
CMM Interface with PC via UART
Communicate with sub-modules via I2C
Reset sub-modules upon request
DTAC: Dynamitic TWI Address Configuration (with pre-defined priority)
Plug-In-Play support
23/4/21 ENSC 305/440 Project 13
UDM Response user input commands and
transmit them via infrared protocol
Support up to 32 bit codec protocol
User modifiable
23/4/21 ENSC 305/440 Project 14
UDM The IR LED we use to broadcast a series
of beam bursts is: LNA2603F-ND High-power output: Po=6mW Operating range: 160 degree
23/4/21 ENSC 305/440 Project 15
Implementation Use Output Comparator and Interrupt to generate CTC wave Wave diagram
ACM Receive commands from I2C BUS
Control motor Use Output Comparator to generate PWM wave
Including: Motors Power supply (battery)
23/4/21 ENSC 305/440 Project 16
Motor Servo motor Stepper motor DC
motor Why we choose DC motor
Motor drive, we choose TB6549PG Output current is high enough: 3.5A With Full-Bridge Four function modes
23/4/21 ENSC 305/440 Project 17
DBM
23/4/21 ENSC 305/440 Project 18
Plug-In-Play
Control LCD with SPI
Display ERR and extra information
SCM When received request, periodically
collect required data from sensors and report them to CMM
Available Sensors: Temperature Sensor Distance Sensor
23/4/21 ENSC 305/440 Project 19
Temperature Sensor The temperature sensor we use is :
LM335AZ Temperature range: -40oC~100oC Accuracy: ±1oC Output: Analog Output voltage temperature coefficient: 10mV/oC
Implementation Use Analog-to-Digital Converter (ADC) on Atmega168 ADC = VIN*1024/VREF
23/4/21 ENSC 305/440 Project 20
Block Sensor The block sensor we choose is: SRF05
ultrasonic sensor Detection Range: 2cm~3m Accuracy: ±1cm How it works
23/4/21 ENSC 305/440 Project 21
Implementation Use Input Capture
and Timer/Counter Interrupt features of Atmega168
Wave diagram
Power Supply Power supply considerations
Stable Last long Safety Charge
Li-ion Eneloop (Sanyo) Similar long storage capacity and high output current No memory effect Very safe to handle Very Small self-discharge rate (15% over a year) Recyclable and environmental friendly Economic
23/4/21 ENSC 305/440 Project 22
PC Main board
X86 PC system on 10cmx7.2cm Pico-ITX board
23/4/21 ENSC 305/440 Project 23
PC Control Daemon
Management interface between GUI and robot hardware Tool of debugging and testing Tool of logging
Video Stream Sever - FFServer Live web cam video feeding Fast streaming in Flash video format
HTTP server for web start Simple way to run the GUI client anywhere
23/4/21 ENSC 305/440 Project 24
GUI Communicate with robot via Internet
Web start without installation
Cross-Platform
User defined buttons
23/4/21 ENSC 305/440 Project 25
GUI
23/4/21 ENSC 305/440 Project 26
PCB
We made PCB by own hands !
Why we choose PCB:
Breadboard: connection is unreliable, waste space, high weight
Prototype: waste time and space PCB: minimal space, less weight, more reliable, mass-
producible
23/4/21 ENSC 305/440 Project 27
Main Board PCB
23/4/21 ENSC 305/440 Project 28
Chassis Design
23/4/21 ENSC 305/440 Project 29
Modify tank toy base significantly
Tank belts: overcome tough surface
Budgeting
23/4/21 ENSC 305/440 Project 30
Items Estimated Cost Actual Cost Revenues
PC $646.06 $1078.53 ESSEF:$680
School of Engineering Science:$50 per group
Chips $90.90 $143.97
Sensors $250.00 $152.33
Chassis & Motor $113.22 $92.48
Power Supply $200.00 $374.02
PCB -- $152.86
Development Fee -- $244.97
Miscellaneous $50.00 $316.99
Shipping & Handling Fee -- $129.74
Unpredictable %15 --
Total $1553.86 $2685.71 $730
Unit Cost
23/4/21 ENSC 305/440 Project 31
Category Items Sub Cost Category Cost
PCPico-ITX Mainboard $258.72
$340.44RAM, USB drive, Wireless adapter, etc $81.72
Sensors
Ultrasonic Sensor $41.84
$94.11Temperature Sensor $1.88
USB Camera $50.39
ChassisTank base,Project box & Servo motor, etc
$73.88 $73.88
Chips Microcontroller, Motor driver, etc $26.71 $26.71
PCB Presensitized PCB, Components,etc $45.80 $45.80
Power Supply
Eneloop Batteries $50.80
$115.74Battery Charger $39.95
PC Power Supply $24.99
Total $696.69 $696.69
Scheduling
23/4/21 ENSC 305/440 Project 32
Final Thoughts
Delay Reasons Problems and Solutions What We Learned Team Organization
23/4/21 ENSC 305/440 Project 33
Delay Reasons
23/4/21 ENSC 305/440 Project 34
The First Extension Scheduled Deadline: Mid April, 2008 Delay Reason: Gear Improvements: added DBM, change power supply
solution
The Second Extension Scheduled Deadline: May 20, 2008 Delay Reason: Mainboard Improvements: use USB instead of hard drive, found
better charger solution, improved video quality
Problems and Solutions
23/4/21 ENSC 305/440 Project 35
I2C Bus IR Control DBM SCM – Reference Voltage USB port and Wireless Adapter Video Stream
What We Learned Software
AVR Studio, ICCAVR, Protus, Altium Designer, Eclipse, Codeblocks
We wrote totally around 10,000 commands including C, C++, Java, HTML and Assembly !
HardwareReal time embedded system, Sensors, Motors, Power supply, PCB, Remote controller, PC, Wireless solution
23/4/21 ENSC 305/440 Project 36
What We Learned Our improvement is obviously (PCB for
example)
23/4/21 ENSC 305/440 Project 37
Team Organization
23/4/21 ENSC 305/440 Project 38
We use CVS version control system: RapidSVN
Team Organization
We have team webpage and BBS: http://PRAlpha.info
23/4/21 ENSC 305/440 Project 39
Conclusion Met functional and design requirements
Gain various experience
Performed excellent teamwork
23/4/21 ENSC 305/440 Project 40
Future Development IR commands self-learning Audio Stream Step motor with feedback Smaller IC packaging Microcontroller wireless controlling Self positioning Charging base
23/4/21 ENSC 305/440 Project 41
Information Sources
Atmel Corporation (Microcontrollers) http://atmel.com/
Mini-Box (PC power supply)http://www.mini-box.com/
Digi-Key Corporation (electronics parts)http://digikey.ca/
Lee’s Electronic (electronics parts)http://www.leeselectronic.com/
RP Electronics (electronics parts)http://www.rpelectronics.com/
23/4/21 ENSC 305/440 Project 42
Acknowledgements
Patrick Leung Steve Whitmore Brad Oldham Jason Lee ESSEF All the people who concerned about our
project
23/4/21 ENSC 305/440 Project 43
Low Level System Details
23/4/21 ENSC 305/440 Project 44
Main board Schematics (1)
23/4/21 ENSC 305/440 Project 45
Main board Schematics (2)
23/4/21 ENSC 305/440 Project 46
DBM Schematics
23/4/21 ENSC 305/440 Project 47
DBM PCB
23/4/21 ENSC 305/440 Project 48
ACM Schematics
23/4/21 ENSC 305/440 Project 49
ACM PCB
23/4/21 ENSC 305/440 Project 50
IR LED Viewing Angle
23/4/21 ENSC 305/440 Project 51
Detailed Product Cost
23/4/21 ENSC 305/440 Project 52
Items UnitCurren
cyUnit
PriceCost(with
tax)Cost Type
Purchase From
Purchase Date
Category
PX10000G/VIA EPIA PX10000G Pico-ITX Mainboard
1 USD$231.00
0$258.72 Price Logic Supply 2008-5-26 PC
DDR2 SO-DIMM 1GB RAM 1 CAD $24.990 $27.99 Price NCIX PCUSB flash drive 2 GB 1 CAD $12.990 $14.55 Price NCIX PCUSB weeirless adapter 1 CAD $14.990 $16.79 Price Ebay PCUSB Hub 1 CAD $19.990 $22.39 Price Ebay PCDevantech Ultrasonic Range Finder SRF05 1 CAD $37.360 $41.84 Price Robot Shop 2008-5-19 SensorLM335AZNS-ND/IC SENSOR PRECISION TEMP TO-92
1 CAD $1.680 $1.88 Price Digi-Key 2008-5-10 Sensor
USB Camera 1 CAD $44.990 $50.39 Price SensorTank base 1 USD $34.990 $39.19 Price Ebay ChassisProject box 1 CAD $9.100 $10.19 Price Active123 Chassis900-00008/Servo-Continuous Rotation-S35 1 USD $12.950 $14.50 Price Parallax 2007-7-24 Chassis
Miscellaneous 1 CAD $10.000 $10.00 Compon
entsTB6549PG-ND/IC DRIVER FULL BRIDGE 16DIP
2 CAD $4.060 $9.09 Price Digi-Key 2008-5-19 MCU
ATMEGA168-20PU-ND/IC AVR MCU 16K 20MHZ 28DIP
5 CAD $2.951 $16.52 Price Digi-Key 2008-1-14 MCU
296-6940-5-ND/IC DUAL EIA-232 DRVR/RCVR 16-DIP
1 CAD $0.970 $1.09 Price Digi-Key 2008-4-27 MCU
Presensitized PCB Single Sided 1/16" 1 CAD $7.990 $8.95 Price Active123 2008-5-2 PCBPresensitized PCB Double Sided 100x150x1.6mm
1 CAD $10.300 $11.54 Price Active123 2008-5-2 PCB
STPBRD2/Stripboard - Small 5 USD $0.950 $5.32 Price Futurlec 2008-4-16 PCB
Miscellaneous 1 CAD $20.000 $20.00 Compon
entsEneloop Batteries 22 CAD $2.062 $50.80 Price Costco 2008-3-24 PowerPicoPSU-80 80W DC-DC Mini ITX 12V Tiny Power Supply
1 USD $39.950 $39.95 Price short-
circuit.com2006-11-23 Power
Smart Universal Battery Pack Charger:12V - 16.8V
1 USA $24.990 $24.99 Price all-battery 2008-5-X Power
Questions
23/4/21 ENSC 305/440 Project 53