GROUP 1 Kamal Ahmad

Francesco Buzzetta

Joshua Dixon

David Snyder

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A Workforce Central Florida Funded ProjectA Mike Felix Mentored Project

The Problem:

Transporting heavy objects over long distances

Limiting factorsPhysical stressProbability of human injuryLabor costs

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The Goal:

The goal is to reduce the amount of stress on the human bodycollege students with books and/or electronicsMajor corporations utilizing human

laborA passenger traveling in the airport

carrying luggage.

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The Solution:

To prevent the aforementioned problem, the use of an autonomous traveling assistant will be ideal in order to safely transport the user’s payload in a stress-free manner. This will be accomplished through the use of the AMP-V. AMP-V stands for “Autonomous Mobile Payload Vehicle.”

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Goals and Objectives of AMP-V:

Follow the user autonomously Mobility on various types of terrain Avoid obstacles in its path Ascend and descend stairs Self-sustaining capability Transport a payload

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Specifications of the AMP-V

Specification Standards

Dimension 25 in. x 25 in. x 22 in.

Range 24 in. from user

Object Detection 18 in.

AMP-V Speed 3 mph

Operational Time 1 hr

AMP-V Weight ≤ 25 lb

Payload Weight ≤ 25 lb

Photovoltaic Solar Panel 40 W

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Block Diagram

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Mobility Hardware

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Chassis

AMP-V Chassis will consist of a Plexiglas structure and PVC pipingVisibility of circuitry, structure, motors, etc.

Four main sectionsPayload BayHardware BayPhotovoltaic MountingTracks and Sprockets

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1. Payload Bay2. Hardware Bay3. PV Mounting4. Tracks/

Sprockets5. PV Cell

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Chassis

Motor Controls

The motor controls will consist of anH-Bridge configurationUse of BJTs connected to

microcontrollerMicrocontroller programs

motor controls for mobilityof the AMP-V

Motors set in ParallelIn order to account for equal voltages on

respective sides and retain stability

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Motor Controls Schematic Schematic of 3 A H-Bridge

Note that this is for one side (i.e. left side motors),so two of these will be required for the AMP-V

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Motor Controls Actions

F R ENOT Action

0 0 0 Coast

0 0 1 X

0 1 0 Backward

0 1 1 X

1 0 0 Forward

1 0 1 X

1 1 0 Brake

1 1 1 X

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Tracks & Sprockets

Tracks3 inches wide, about 116 inches

Rubber Provide high ground clearance All-terrain

SprocketsWill be used to define a trapezoid-like shape

out of the tracks Motors Hub

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Accelerometer

Model : ADXL335

Features: 3-Axis +- 3g

Low power: 350uA

Single-supply operations:

1.8V to 3.6V

Bandwidths: 0.5Hz to 1600Hz

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Proximity System

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Ultrasonic Sensors

SRF05 Ultrasonic Ranger5 V, 4 mATotal of 4 sensors, one in each cardinal direction

Radial area for pingingTrigger and Echo pinReturns a positive TTL level signal

width proportional to distance of the object

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Object Detection

Sensors can detect up to 5 metersbeam width of ±55° perpendicular to the surface

Only interested in objects ≥ 6 in. and ≤ 24 in.Threshold of 24 in.

AMP-V will maintain a 24 in. distance from the userThreshold of 18 in.

AMP-V will initiate collision avoidance

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Collision Avoidance

Maneuvers conducted by the AMP-V to avoid collisionsThe AMP-V’s control systems will decide

necessary movement Decision making

Execute movements by sending the appropriate signals to the motor controls

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Tracking System

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Tracking System

Infrared technologyIR transmitter (Beacon)Two IR receivers mounted at front left and front

right of the AMP-V Determines orientation of AMP-V in relation to the

beacon

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Beacon (IR Transmitter) 5V energy source required

Four 1.5 V Batteries

IR oscillator circuit555 Timer: ICM7555

IR LED: TSAL6200 Circuit allows for IR LED to toggle on and off

at 38 kHz frequencyIR receivers will detect the 38 kHz IR wave

‘blinking’ and output it to MCU

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IR Transmitter Schematic

IR Receiver IR Receiver Module

Vishay TSOP3483838 kHz Infrared Measuring SensorTwo IR receivers mounted at front left and

front right of the AMP-V

Analog outputRead from detection angle of the Receiver

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IR Receiver Schematic

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Viewing Angle

IR receivers have a half-angle view of ±45° Extended visibility

64.72° from frontTurning receivers

19.72° in order toachieve such viewingangles

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Microcontroller

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Microcontroller MSP-EXP430FR5739

24MHz2.0V - 3.6V 560uA

Low power consumption

32 I/O 14 10-Bit ADC I/O

Devices:Ultrasonic sensors – 8 GPIO - I/OInfrared receivers – 2 ADC - IH-bridges – 6 GPIO - OAccelerometer – 3 ADC - I

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Software

SensorsObject Detection algorithms

AccelerometerOrientation

Motor ControlCollision Avoidance algorithms

Infrared Receiving PWM

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Handshake & Configuration

Distance Comparison

Signal motors for movement

Object Detected within 18 in.?

User ≥ 24 in. or ≤ 24 in.

Yes

== 24in.

No

Turn On AMP-V

Adjust Direction (tracks & motors)

Object Detection (ultrasonic)

Read Analog Outputs (Infrared)

Timer (30 secs)

Collision Avoidance (mcu, tracks & motors)

Orientation(accelerometer)

Orientation(accelerometer)

Signal motors for movement

Self-sustainability

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Photovoltaic Cells

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Solar Panel Voc Isc Dimensions Weight Cost

Monocrystalline 21.6 V 3.26 A 24.95 in. x 24.95 in. x 1.25 in. 8.8 lb $139.99

Polycrystalline 21.6 V 3.2 A 73 in. x 53 in. x 5 in. 13.2 lb $159.95

Amorphous 20.7 V 3.06 A 33.5 in. x 17.3 in. x 0.098 in. 5.51 lb $294.75

Monocrystalline Solar Panel

Photovoltaic Cell Type: Monocrystalline

Output Power: 50 W

Maximum/Peak Voltage (Vmp): 17.1 V

Open Circuit Voltage (Voc): 21.6 V

Maximum/Peak current (Imp): 2.92 A

Short circuit Current (Isc): 3.26 A

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Monocrystalline Solar Panel

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Power Distribution

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Power Distribution Diagram

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Batteries

The AMP-V shall use two 12 V batteries The batteries shall provide sufficient energy to

4 Motors4 Ultrasonic sensors2 Infrared receiversMicrocontrollerAccelerometer

The batteries shall be rechargeable and sustain operation of the vehicle for at least one hour

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Battery Requirements

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Voltage Current Power

Min Max Pmin Pmax Photovoltaic Cells 10V 18V 2.78A 50W

Battery(2) - 3800mAh 12V 14.5V 45.6W

Motor (4) 6V 12V 1.5A 9W 18W IR Receiver (2) 2.5V 5.5V 3mA 0.02W 0.03W Ultrasonic Sensor(4) 5.0V 4mA 0.02W 0.02W MCU 1.8V 3.6V 560uA 1.01uW 2.02mW Accelerometer 1.8V 3.6V 350uA 0.64mW 1.33mW TOTAL 36.04 W 72.05 W (including all items)

Battery SpecificationsFunction Nickel Metal

hydride (NiMH)Nickel Cadmium (NiCad)

Lithium Ion (Li-ion)

Rechargeable Alkaline (R-A)

Voltage 1.25 1.25 1.75 1.5

Charge Capacity

3800 mAh 700 mAh 400 mAh 3000 mAh

Safety Needs

No No No Yes

Recharge Cycles

100’s 100’s >500 10’s

Charge Rate 1.8 – 3.8 A ~2A 400 mA N/A

Continuous Use Performance

Good Good Good Poor

Weight Light Medium Light Heavy

Cost Low Medium High High

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Battery Specifications

Nickel-metal hydride (NiMH) 12VDC 3800 mAh (each) Discharge rate: 3.8 A – 4.2 A Charge rate: 1.8 A – 3.8 A 1.3 lb 3.3 in. x 1.3 in. x 2.6 in.

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Voltage & Charge Regulator 3 Voltage Regulators

12VDC – Motor Controls5VDC – IR Receiver and Ultrasonic Sensors3VDC – MCU and Accelerometer

1 Charge Controller50W Solar Panel to 24VDC Battery

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12VDC Voltage RegulatorPowering Motor Controls PT6656 Integrated Switching Regulator Input Voltage = 9 – 28 Volts Output Voltage = 12 Volts Output Current = 5 Amps Simple Implementation (2 capacitors)

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12VDC Voltage RegulatorPowering Motor Controls

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5VDC Voltage RegulatorPowering IR Receivers and Ultrasonic Sensors

PT6653 Integrated Switching Regulator Input Voltage = 9 – 28 V Output Voltage = 5 V Output Current = 5 A Simple Implementation (2 capacitors)

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5VDC Voltage RegulatorPowering IR Receiver and Ultrasonic Sensors

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3VDC Voltage RegulatorPowering MCU and Accelerometer

PT6651 Integrated Switching Regulator Input Voltage = 9 – 28 V Output Voltage = 3.3V Output Current = 5A Simple Implementation (2 capacitors) Additional 35.4 kΩ Resistor on Voltage

Adjustment pin to reduce Vo to 3V

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3VDC Voltage RegulatorPowering MCU and Accelerometer

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Charge Controller

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Administrative Information

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Budget & Financing

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Part Type Cost Part Type CostUltrasonic Sensor $121.56 Hub – (motor to sprocket) $16.00 Photovoltaic Cells $149.99 Track Fasteners $3.95 Battery $91.76 Motor Mounts $29.90 Motors $87.80 Plexiglas $174.88 Tracks $233.70 Overhead $200.00 Track Sprockets $79.60 PCB $200.00 Charge Controller $25.00 Infrared Receivers $37.99 Connectors $50.00 Infrared Diodes $5.00 Power Converters $20.00 Accelerometer $32.94 Passive Hub Extenders $59.80

TOTAL : $1,619.87 Final Workforce Central Florida Budgeting $1,927.98

$308.11 under budget

Milestone

November 21st – Research Phase December 5th – End Preliminary Design February 10th – End Prototype Assembly February 29th – End Prototype Bugs Phase March 31st – End Testing Phase April 9th – Final Paper and Presentation

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Work Distribution

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Work Completed

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Work To Be Completed Ordering Parts PCB Fabrication and Mounting

Voltage RegulatorsIR Receivers and TransmitterMotor Controls

AssemblyChassisTracksIR Receiver and Transmitter

MCU Programming, Device Interfacing Testing

Current Issues

Detecting stairs

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