RC Camera Car SDR 1

RC Camera CarSubsystems Design ReviewP1422610/29/13

Tim SouthertonBrian Grosso

Matthew MorrisLalit Tanwar

Kevin MeehanAlex Reid

Advisor: Dr. Becker-Gomez

RC Camera Car SDR 2

Agenda Items Background Review Proof of Concept

Console Fabrication Timing Gate Wheel Speed Encoder Chassis Modification Car Bumper Console Controller Xbee Communications Wireless Camera

Pending Detailed Design Items Testing / To Do List Bill of Materials

RC Camera Car SDR 3

Problem Definition Review

Project Goal: Build a RC car platform controlled remotely with intuitive controls and visual

feedback that can be expanded to demonstrate Controls to college students. The project needs to be captivating and able to demonstrate multidisciplinary engineering innovation at various RIT events this year and into the future.

Deliverables:1. RC Car Platform with Cameras and Sensors2. Driving Station with Controller3. Equation of Motion of the System4. Characterizing Parameters of the System5. Source Code for Low Level Processing6. Interface for Student Coding7. Preliminary Differential Drive Code8. Supporting Documentation

Addressed with First-Level Proof of Concept

To be Addressed with Further Proof of Concept Testing

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Stakeholders Review Customer: Dr. Juan Cockburn

Controls Professor, RIT, Computer Engineering (CE) Sponsors:

RIT CE Department, Multidisciplinary Senior Design (MSD) Freescale Semiconductor RIT FMS (Chris Furnare and Jim Shuffield) RIT ME Robotics Lab

Event Attendees: Imagine RIT, Freescale Cup 2014 Various Campus Symposiums and Workshops

MSD Team Future RIT Researchers Future RIT MSD Teams / Prospective Students

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Engineering Req.’s Review

Detailed Engineering Requirements No current changes made to engineering

requirements Further proof of concept testing will now

allow for detailed evaluation of specific parameters Car Performance Data, Wireless

Transmission, etc.

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Console Fabrication POC

Risk: Medium Metrics / Functions Addressed:

Seat User Look Professional Diversify Technologies

Built a preliminary console for proof of concept on component collection and platform for iterative design

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Console Fabrication POC

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Timing Gate POC

Risk: Low Metrics / Functions

Addressed: Provide Competitive

Element Measure Movement Event Entry

66 cm Wide, 33 cm Tall 450 mV Threshold for

car passing IR Sensor

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Wheel Speed Encoder POC

Risk: High Metrics / Functions Addressed:

Measure Movement Characterize System Provide Differential Drive Move Car Chassis

Two Iterations 3D Printed Color Choice, Diameter, Sensor Options,

Spacing, Fits

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Wheel Speed Encoder POC

1ST ITERATION DESIGN 2ND ITERATION DESIGN

Optical Switch Encoder

Optical Switch Encoder

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Chassis Modification POC

Risk: High Axles and Calculations Metrics / Functions Addressed:

Minimum Turning Radius Manual Reset Required Balance Expandability Differential Drive Controls Positive Visual Inspection

Car Current State

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Chassis Modification POC

RC Camera Car SDR 13

Chassis Modification POC

Risk: High Preliminary Performance Testing

RC Car TX/RX Testing Arduino + Xbee Encoder Data TX/RX

Metrics / Functions Addressed: Physically Move Car Transmit / Interpret Controlling Signals Measure Movement

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Chassis Modification POC

PRELIMINARY RF SETUP PRELIMINARY DATAlspeed = 45.0/(lnow-lprevious)*1000*3.14*2.8/360/12 (feet/sec)

0 1 2 3 4 5 6 7 8 9 100.0

0.5

1.0

1.5

2.0

2.5

Time (sec)

Whe

el S

peed

(ft/s

)

RC Camera Car Driving 10 27 13

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Car Bumper POC

Risk: High Metrics / Functions

Addressed: Protect Components Manual Reset Required

Added to protect the car during testing No cost added PVC, Foam,

Metal Standoffs, L-Brackets, Zip Ties

Plans to for a presentable bumper Nylon for a bumper donated by

Rob Kraynik

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Console Controller POC

Risk: High Metrics / Functions Addressed:

Respond to User Control Signals Immerse User with Realistic Controls

Reverse engineering done on donated steering wheel / pedal controller

Determination of analog output options for user input to system

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Console Controller POC

Steering Encoder

Optical Switch

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Xbee Communication POC

Risk: High Metrics / Functions Addressed:

Transmit Controlling Signals Interpret Controlling Signals Respond to User Control Signals Measure Movement

Successfully interfaced Xbee’s with Freescale KL25Z Board

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Wireless Camera POC

Risk: High Metrics / Functions Addressed:

Transmit Visuals Give user driving feedback

Wireless camera with analog output determined as best option

Analog TX/RX modules used to transmit video to the LCD screen

Preliminary testing accomplished with Matt’s mini-camera and Robotics Lab video transmitters

https://www.youtube.com/watch?v=JAYgUAG45Hg

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Pending Detailed Design Items

Controls Algorithm Implementation Interface with Simple User Code Simulink to Microcontroller Interface

▪ Embedded Coder Program▪ K60/K70 Microcontroller Constraint▪ Code Warrior Programming Interface

Linear Speed Sensing for Systems Model▪ Low speed applications of control algorithm▪ Affordable IMU most likely high signal to noise ratio

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Testing / To Do List Steering Wheel / Pedal Testing

ME’s: Access Hatch on Console EE’s Tap Signals to Microcontroller

Wheel Speed Sampling Solution and Testing Car Performance Testing Range Testing of TX/RX Optical Gate Speed Testing

K60/K70 Xbee / Motor Controller Integration Controls Application Software Integration

IMU Measurement Nylon Bumper Design and Fabrication Wireless Camera Component Selection Component Mounts Aesthetics

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Bill of Materials

Current Budget Approximately $78.33 Spent Thus Far Approximately $704.25 in Total Value of Parts

Student Donated ~$100 Freescale Donation 2 x ~$200 Chassis Kits FMS / Free Items ~$80

Min. Projected Remaining Expenses $284.36 Wireless Camera, TX, RX Casters, Course Materials, Nuts Bolts, Cables

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Additional SlidesP14226 EDGE Site