ece 477 final presentation group 1 fall 2005 kwun fung yau chad carrie zubin rupawala manoj jacob

ECE 477 Final Presentation ECE 477 Final Presentation Group 1 Group 1 Fall 2005 Fall 2005

Kwun Fung Yau

ChadCarrie

ZubinRupawala

ManojJacob

OutlineOutline

• Project overviewProject overview• Block diagramBlock diagram• Professional componentsProfessional components• Design componentsDesign components• Success criteria demonstrationsSuccess criteria demonstrations• Individual contributionsIndividual contributions• Project summaryProject summary• Questions / discussionQuestions / discussion

Project OverviewProject Overview

• Remote Controlled vehicle with a water cannon Remote Controlled vehicle with a water cannon mounted on a pan/tilt turret along with a cameramounted on a pan/tilt turret along with a camera

• Controller by a remote user at a PC via 802.11b Controller by a remote user at a PC via 802.11b Wireless (UDP) and navigated by the video cameraWireless (UDP) and navigated by the video camera

• Intuitive PC interface (designed to be controlled like Intuitive PC interface (designed to be controlled like an FPS game – Mouse + WASD)an FPS game – Mouse + WASD)

• Sensors mounted on vehicle for obstacle avoidanceSensors mounted on vehicle for obstacle avoidance

Block DiagramBlock Diagram

Micro-controller

PWM

Pan / Tilt servos Steering servo Drive train

ATDIR

sensors

Water Pump / Cannon

Wireless Webcam

Wireless Router

USER

PC

Professional ComponentsProfessional Components

• Constraint analysis and component selection Constraint analysis and component selection rationalerationale

• Patent liability analysisPatent liability analysis• Reliability and safety analysisReliability and safety analysis• Ethical and environmental impact analysisEthical and environmental impact analysis

Constraint Analysis (Chad)Constraint Analysis (Chad)

• Power SupplyPower Supply- Large current needs (turned out to need - Large current needs (turned out to need less current than planned)less current than planned)- Several different voltage requirements- Several different voltage requirements

• Microcontroller – Freescale MC9S12NE64CPVMicrocontroller – Freescale MC9S12NE64CPV– CodeWarrior – reliable IDECodeWarrior – reliable IDE– 80 pins (38 general IO pins)80 pins (38 general IO pins)– Built in Ethernet interfaceBuilt in Ethernet interface– ATD (for analog infrared sensors)ATD (for analog infrared sensors)– Emulated PWM (motors and servos)Emulated PWM (motors and servos)– Rabbit RCM3000 has no ATD!Rabbit RCM3000 has no ATD!– Can program with BDMCan program with BDM

Constraint Analysis (Chad)Constraint Analysis (Chad)

• Water PumpWater Pump- Hargraves Advanced Fluidic Solutions LTC - Hargraves Advanced Fluidic Solutions LTC W311-11 diaphragm pumpW311-11 diaphragm pump- 30 psi - 30 psi - planned on 5 feet of water travel- planned on 5 feet of water travel- ~ 25 feet of actual water travel- ~ 25 feet of actual water travel

• WebcamWebcam- Linksys WVC11B- Linksys WVC11B- Wireless- Wireless- Capable of 802.11b format- Capable of 802.11b format- Built-in Web Server- Built-in Web Server

Constraint AnalysisConstraint Analysis

• SensorsSensors

- 6x - 6x Sharp GP2Y0A02YK (~ 4 foot range) (analog)Sharp GP2Y0A02YK (~ 4 foot range) (analog)• BatteryBattery

- 19.2 VDC battery pack from Hummer H2- 19.2 VDC battery pack from Hummer H2

- 12 VDC battery pack, 2400mAh- 12 VDC battery pack, 2400mAh• Pan/Tilt servos – Devantech SR0FXPan/Tilt servos – Devantech SR0FX

- Pre-built for pan and tilt motions- Pre-built for pan and tilt motions

- Would have been cheaper and better to- Would have been cheaper and better to

build our ownbuild our own

Constraint AnalysisConstraint Analysis

• Vehicle PlatformVehicle Platform– Needed ample room to mount peripheralsNeeded ample room to mount peripherals– Has a finished bodyHas a finished body– Included a battery packIncluded a battery pack– Has a rear motor to drive forward and Has a rear motor to drive forward and

backward (large current spike)backward (large current spike)– Had a steering servo which was replacedHad a steering servo which was replaced

Patent Liability Analysis (Zubin)Patent Liability Analysis (Zubin)

• Patents foundPatents found– # 6,645,037 - Programmable toy and game# 6,645,037 - Programmable toy and game– # 6,533,191 - Water projection device and # 6,533,191 - Water projection device and

method for projecting watermethod for projecting water– # 6,658,325 - Mobile Robotic with web # 6,658,325 - Mobile Robotic with web

server and digital radio linkserver and digital radio link– # 6,845,297 - Method and system for # 6,845,297 - Method and system for

remote control of mobile robotremote control of mobile robot


• Literal InfringementsLiteral Infringements– # 6,658,325 - Mobile Robotic with web # 6,658,325 - Mobile Robotic with web

server and digital radio linkserver and digital radio link• Infringements under Doctrine of EquivalentsInfringements under Doctrine of Equivalents

– All othersAll others• Shooting waterShooting water• Keyboard ControlKeyboard Control• Control MechanismControl Mechanism


• Similar Commercial ProductSimilar Commercial Product

-- Adventure CamAdventure Cam

Reliability/Safety Analysis (Kwun)Reliability/Safety Analysis (Kwun)

• Reliability Analysis (MTTF Analysis)Reliability Analysis (MTTF Analysis)

- Freescale MC9S12NE64 MCU – 25.71 years- Freescale MC9S12NE64 MCU – 25.71 years

- Vishay SUD50DN02-06 Power MOSFET for - Vishay SUD50DN02-06 Power MOSFET for water pump – water pump – 17.85 years17.85 years

- Vishay Si1865DL Load Switch for Power - Vishay Si1865DL Load Switch for Power Options – 47.61 yearsOptions – 47.61 years

- AnaChip AP1501A Power Regulator – 773 - AnaChip AP1501A Power Regulator – 773 yearsyears

• FMECAFMECA

- High Criticality (high potential to cause injury)- High Criticality (high potential to cause injury)

1. Microcontroller1. Microcontroller

2. Power2. Power

3. Drive Train3. Drive Train

4. Wireless bridge and webcam4. Wireless bridge and webcam

- Low Criticality- Low Criticality

1. Water Pump1. Water Pump

2. Sensors2. Sensors

Reliability/Safety Analysis (Kwun)Reliability/Safety Analysis (Kwun)

Ethical/Environmental Analysis Ethical/Environmental Analysis (Manoj)(Manoj)• Warning labelsWarning labels

- The 19.2V and 12V battery.- The 19.2V and 12V battery.

- The Pan/Tilt servos- The Pan/Tilt servos

- PCB- PCB• Example: Example: WARNING: Live Electrical Components. May WARNING: Live Electrical Components. May

Cause Shock! In case of problems, take product to Cause Shock! In case of problems, take product to manufacturer.manufacturer.

Ethical/Environmental Analysis Ethical/Environmental Analysis (Manoj)(Manoj)• Hazard due to waterHazard due to water

- Secure wires against water- Secure wires against water

- Seal the water tank, pump and pipe against - Seal the water tank, pump and pipe against leaksleaks

• Battery rechargerBattery recharger

- Design a battery recharger to plug into the - Design a battery recharger to plug into the shellshell

Ethical/Environmental Analysis Ethical/Environmental Analysis (Manoj)(Manoj)• Objects entering through the undercarriageObjects entering through the undercarriage

- Fitting a plastic plate underneath the - Fitting a plastic plate underneath the Hummer W2Hummer W2

• Erratic circuit behavior due to low battery Erratic circuit behavior due to low battery chargecharge

- Install a voltage monitor- Install a voltage monitor• Hummer W2 will collide with objects and Hummer W2 will collide with objects and

peoplepeople

- Sensors will prevent collision- Sensors will prevent collision

Ethical/Environmental Analysis Ethical/Environmental Analysis (Manoj)(Manoj)• Dangerous chemicals used in PCB Dangerous chemicals used in PCB

fabricationfabrication

- Use chemicals like Peroxy- Sulfuric acid- Use chemicals like Peroxy- Sulfuric acid• Disposal of the Hummer W2 can pose a Disposal of the Hummer W2 can pose a

problemproblem

- Consumers can call Solid & Hazardous - Consumers can call Solid & Hazardous Waste Division (801-538-6170)Waste Division (801-538-6170)

Design ComponentsDesign Components

• Packaging design considerationsPackaging design considerations• Schematic design considerationsSchematic design considerations• PCB layout design considerationsPCB layout design considerations• Software design considerationsSoftware design considerations

Packaging Design (Kwun)Packaging Design (Kwun)

Schematic Design (Chad)Schematic Design (Chad)


• Ethernet schematicEthernet schematic• Taken from FreeScale recommended schematicsTaken from FreeScale recommended schematics


• 2 Rear Infrared Sensors2 Rear Infrared Sensors• Servos for steering and pan/tiltServos for steering and pan/tilt


• The new Front sensorsThe new Front sensors• Originally Digital SensorsOriginally Digital Sensors• Now Analog SensorsNow Analog Sensors


• Optional LED’s Optional LED’s • 2x Power Options for 5V 1A loads2x Power Options for 5V 1A loads

- Never tested because time constraints- Never tested because time constraints


• 5VDC regulators from 12VDC input5VDC regulators from 12VDC input• Replaced the switchesReplaced the switches


• 3.3VDC regulator from 12VDC input3.3VDC regulator from 12VDC input


• MOSFET for the WaterPumpMOSFET for the WaterPump

PCB Layout Design (Manoj)PCB Layout Design (Manoj)

Software Design (Zubin)Software Design (Zubin)

• Two parts Two parts – MicrocontrollerMicrocontroller– PC InterfacePC Interface

• MicrocontrollerMicrocontroller– Polling loopPolling loop– Interfaced to PC via UDP (over Ethernet/wireless) Interfaced to PC via UDP (over Ethernet/wireless) – Using the OpenTCP stackUsing the OpenTCP stack– Used (TIM) Simple PWM for servo motors, ATD for Used (TIM) Simple PWM for servo motors, ATD for

sensorssensors– Fits in 64KB flash of MC9S12NE64Fits in 64KB flash of MC9S12NE64

Software Design (Zubin)Software Design (Zubin)Init

Check for Ethernet packet

Check sensors, set flags

Control PWM for motors, turret

Drive train motor control


• Inter device communicationInter device communication– UDP packetsUDP packets– 3 bytes data (not including Ethernet/UDP 3 bytes data (not including Ethernet/UDP

frame size)frame size)– Movement, Turret position, Shoot (0,0,0)Movement, Turret position, Shoot (0,0,0)– One packetOne packet

sent everysent every

500 ms500 ms

1

3

5

2

7

4

6

8


• PC InterfacePC Interface– Written in Visual Studio .NET with C#Written in Visual Studio .NET with C#– Communicates with Microcontroller via Communicates with Microcontroller via

UDP packetsUDP packets– Controls the motors and water cannonControls the motors and water cannon– Displays the video from webcamDisplays the video from webcam

Success Criteria DemonstrationsSuccess Criteria Demonstrations

1.1. Ability to control vehicle drive train Ability to control vehicle drive train (forward/ reverse/ speed/ turn) - (forward/ reverse/ speed/ turn) - demodemo

2.2. Ability to position turret (rotation / Ability to position turret (rotation / elevation) - elevation) - demodemo

3.3. Ability to fire water cannon - Ability to fire water cannon - demodemo

4.4. Ability to avoid collisions - Ability to avoid collisions - demodemo

5.5. Ability to receive/decode UDP stream over Ability to receive/decode UDP stream over Ethernet/wireless to control vehicle, turret Ethernet/wireless to control vehicle, turret and cannonand cannon

Individual ContributionsIndividual Contributions

• Team Leader - Chad CarrieTeam Leader - Chad Carrie• Member 2 - Zubin RupawalaMember 2 - Zubin Rupawala• Member 3 - Manoj JacobMember 3 - Manoj Jacob• Member 4 - Kwun Fung YunMember 4 - Kwun Fung Yun

Team Leader – Chad CarrieTeam Leader – Chad Carrie

• Ordered most of the partsOrdered most of the parts• Constraint Analysis PaperConstraint Analysis Paper• Schematic Design PaperSchematic Design Paper• Populated the PCBPopulated the PCB• Helped with the PCB LayoutHelped with the PCB Layout• Package ConstructionPackage Construction• Repaired after damagingRepaired after damaging

Member 2 – Zubin RupawalaMember 2 – Zubin Rupawala

• Designed entire software logicDesigned entire software logic• Designed the control interface with visual Designed the control interface with visual

studio .NET (GUI) with C#studio .NET (GUI) with C#• Implemented the UDP decode subsystemImplemented the UDP decode subsystem• Programmed the ATD and TIM modules for Programmed the ATD and TIM modules for

sensors and servo motors with help of Manoj sensors and servo motors with help of Manoj and Kwunand Kwun

• Patent LiabilityPatent Liability• Helped with actual constructionHelped with actual construction• Debugged and Tested systemDebugged and Tested system

Member 3 – Manoj JacobMember 3 – Manoj Jacob

• Research on parts requiredResearch on parts required• Tested the theory of operationTested the theory of operation• Helped with Schematic designHelped with Schematic design• PCB designPCB design• Ethical and Environmental AnalysisEthical and Environmental Analysis• Helped with Package ConstructionHelped with Package Construction

Member 4 – Kwun Fung YauMember 4 – Kwun Fung Yau

• Designed the user control interface with Visual Designed the user control interface with Visual Studio.NET in C#Studio.NET in C#

• Programmed the keyboard and mouse movement Programmed the keyboard and mouse movement logiclogic

• Programmed the ATD modules for sensorsProgrammed the ATD modules for sensors• Help with debuggingHelp with debugging• Packaging DesignPackaging Design• Reliability and safety analysisReliability and safety analysis• Helped with hardware integrationHelped with hardware integration• Order partsOrder parts• Debugged and Tested systemDebugged and Tested system

Project SummaryProject Summary

• Important lessons learnedImportant lessons learned– Zip ties and hot glue and proto-boards are Zip ties and hot glue and proto-boards are

essential for prototypingessential for prototyping– Ground/power traces should be extra thickGround/power traces should be extra thick– DC motors and current spikesDC motors and current spikes– For prototyping, local sources should be For prototyping, local sources should be

used for parts acquisitionused for parts acquisition– Don’t use ready-made parts Don’t use ready-made parts

(“intelligent” h-bridge, pan/tilt)(“intelligent” h-bridge, pan/tilt)


• Important lessons learntImportant lessons learnt– Headers are invaluableHeaders are invaluable– Code-warrior/debugging skillsCode-warrior/debugging skills– Team work and time-management skillsTeam work and time-management skills


• Second iteration enhancementsSecond iteration enhancements– Build own H-bridgeBuild own H-bridge– Use custom parts (no reverse engineering)Use custom parts (no reverse engineering)– Use better turret (pan/tilt)Use better turret (pan/tilt)– Use only one batteryUse only one battery– Add more functionalityAdd more functionality

Questions / DiscussionQuestions / Discussion

ece 477 final presentation group 1 fall 2005 kwun fung yau chad carrie zubin rupawala manoj jacob

Documents

projecting water

water cannon

feet of water travel

water projection device

water secure wires aga

vdc battery pack

battery packhas

diaphragm pump