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….
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