secon 2012 final presentation. team michael helmbrecht electrical engineer measurement tasks course...
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SECON 2012Final Presentation
Team
Michael HelmbrechtElectrical Engineer• Measurement Tasks• Course Construction
Chris NicholasComputer Engineer• Measurement Tasks• Course Construction
Kristin SharpElectrical Engineer• Measurement Tasks• Course Construction
Ryan RougeauElectrical Engineer• Navigation• PCB Design
Erin TateElectrical Engineer• Navigation• PCB Design
Jason WarrenComputer Engineer• Navigation• PCB Design
Dr. Robert ReeseAdvisor
Outline
• Competition Overview• Practical Constraints & Related Testing• Technical Constraints & Related Testing• System Testing• Summary & Future Goals
Outline
• Competition Overview– Playing Field– Tasks– Scoring• Preliminary Rounds • Final Rounds
Playing Field• Carpet with white tape• Task Boxes• 4-Minute Rounds
Tasks
• Approach Task Box• Take Measurement• Make Decision• Repeat
Scoring• Qualifying Round:– Push start and move 1 ft.
• Preliminary Rounds: 3 Rounds– Average of the three scores– Top 6 teams advance to finals
• Final Round:– Team with highest score wins
• Points:– 100 initial points per round– +10 points for correct decisions– –10 points for incorrect decisions
Outline
• Practical Constraints & Related Testing– Modular Design• PCB parts placed with headers• FSM coding style
– Troubleshooting• Bluetooth and debugging testing
Modular Design• PCB Layout
PCBPIC24 Breakout Board
Bluetooth Module
Motor ControlBreakout Board
Modular Design• FSM Coding Style– Separate states for
Navigation and Measurement programming
Troubleshooting
• Bluetooth and Debugging Testing– Bully Bootloader COM ports
Outline
• Technical Constraints & Related Testing– Voltage– Capacitance– Temperature– Waveform– Navigation
Voltage Testing
Voltage Testing
Voltage Testing
Plate Voltage Measured Voltage Multimeter Reading Percent Error
15V 3.08V 3.16V 2.5%
11V 2.68V 2.76V 3.0%
9V 2.48V 2.55V 2.7%
0V 1.59V 1.64V 3.0%
-9V 0.70V 0.73V 4.0%
-11V 0.50V 0.53V 5.7%
-15V 0.10V 0.12V 16.7%
MAX VOLTAGE MIN VOLTAGE THRESHOLDS15V -15V 9V < V < 11V
Capacitance Testing
Capacitance Testing
Capacitance Testing
Plate Capacitance Measured Capacitance Percent Error
10.7μF 11.4μF 6.5%
1.01μF 1.06μF 5%
46.9nF 56.9nF 21%
MAX CAPACITANCE MIN CAPACITANCE THRESHOLDS10.0μF 10.0nF 100nF< C < 1μF
Temperature Testing
Temperature TestingPlate
TemperatureMeasured Plate
TemperatureMeasured Ambient Temperature
68.7F 69.7F 76.4F
75.0F 75.6F 76.4F
89.6F 89.6F 76.4F
102F 102F 76.4F
Waveform Testing
Output waveform
Input waveform
Vref
+
-
Waveform Testing
Waveform TestingSquare Wave Sawtooth Wave
Vref
Navigation Testing
• Line Sensing• Distance Sensing
Line Sensor Testing
• Sensor Mounting
Line Sensor Testing• Proportional Drive
-4 -3 -2 -1 1 2 3 4
• Each sensor has:– Priority– Weight
Line Sensor Testing
• LabVIEW Debug
Line Sensor Testing
Test Type Laps Attempted Laps Successful Rate of Success
Initial Line Following: Non-Latching
25 12 48%
Post-Debugging: Latching
25 21 84%
• Discovered a latching turn state helped stay on line
Distance Sensor Testing
Location Actual Distance (cm)
Test 1Count
Test 2Count
Test 3Count
Test 4Count
Test 5Count
Average Count
Out of Range > 17 53 75 80 73 68 70
Stop Line 11.2 354 297 362 309 312 327
Contact with Box 1.8 703 688 633 629 641 659
Outline
• System Testing– Integration testing– Demo video
System Testing
• Integration of both subsystems• Ensure probes are accurate and relays
switch correctly• Measurement must be taken once box
is reached and before decision is made
System Testing
Outline
• Summary & Future Goals– Timeline– Future goals• Fix Bugs• Populate PCB• Improve performance
TimelineAugust September October November December
Strategy and Course Construction
Research and Purchasing
Programming
Circuit Design
Debugging
Prototype
Fix Bugs
• Three bugs to correct– Measurement• Transition between tests
– Navigation• Right turn problem• Box approach error
Populate PCB
Improve Performance
• Balance speed with reliability of navigation and measurements
• Improve measurement accuracy• Finalize entire package– Sensor and probe location– Mounting of PCB
SECON 2012Final Presentation
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