RC Camera Car SDR 1

RC Camera CarSystems Design ReviewP142269/12/13

Tim Southerton

Brian Grosso

Matthew Morris

Lalit Tanwar

Kevin MeehanAlex Reid

Adviser: Dr. Becker-Gomez

10/01/13

RC Camera Car SDR 2

Agenda Items Background Information

Problem Definition Stakeholders RIT Customer Update Customer Requirements

Systems Analysis System / Hardware / Software

Functional Decomp Engineering Requirements System / Software Architecture Benchmarking

▪ Chassis▪ Camera▪ Microcontroller▪ Wireless Comm.

Morph Chart / Pugh Matrix

Concept Selection▪ Course▪ Console▪ Chassis▪ Microcontroller Mount

System Prototyping▪ Chassis Prototyping▪ Adapter Plate Schematic▪ Weight Analysis▪ Differential Drive Simulink▪ Car Power Budget▪ Circuit Diagrams

Risk Assessment Test Plan Moving Forward

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Background InformationOverview

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Problem Definition 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 Control3. 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

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Stakeholders Customer: Dr. Juan Cockburn

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

RIT CE Department, Multidisciplinary Senior Design (MSD) Freescale Semiconductor

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

MSD Team Future RIT Researchers Future RIT MSD Teams / Prospective Students10/01/13

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RIT Customer Update System customer is

looking for long term was done by a student at UC Irvine

Balanced an RC car using controls algorithm

Major Issues: HPI Racing Car ($)▪ Monster Truck Design

Titanium Geared Servo ($)▪ Precise, High Torque Steering

22 State Variable Linearized System Model▪ Advising from 4 MIT Professors

Balancing RC Car on Two Wheels

Two-Wheel Self-Balancing of a Four-Wheeled VehicleDavid Arndt et al., IEEE Control Systems Magazine, March 2011

Power to both wheels on the ground

High CG Large, Soft Tires

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Customer Requirements

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Systems AnalysisTo Current State

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System Functional Decomp

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Hardware Functional Decomp

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Software Functional Decomp

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Engineering Requirements Revised metrics mapping to

functional decomposition on all levels

Combined with constraints to make more meaningful function connections

Revised metrics with new benchmarking data

Mapped new metrics to needs with HOQ

Added tests to measure metrics for test planDetailed Engineering Requirements

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System Architecture

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System Architecture (cont.)

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Software Architecture

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Benchmarking – Chassis

Few affordable chassis options available Most RC cars have open differential

drives Custom chassis would require significant

time Freescale chassis is donated but needs

many modifications10/01/13

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Benchmarking – Camera

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Benchmarking – Microcontrollers

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http://www.mouser.com/images/microsites/Freescale%20Black%20Board.jpg

http://upload.wikimedia.org/wikipedia/commons/3/3d/RaspberryPi.jpg

http://www.liquidware.com/system/0000/3648/Arduino_Uno_Angle.jpg

http://circuitco.com/support/images/2/23/REV_A5A.jpg

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Benchmarking – Wireless Comm.

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Morph Chart

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Concept Selection

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Pugh Matrix First Pugh matrix low

datum Inspiration setup

High end option scores best but mid-range RC close

Custom Chassis may not be worth the extra cost/effort

Budget / time constraint issues

Current Chassis Good

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Concept Selection – Course

Tape Lines Cones Banked

Course Dog Fence

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Concept Selection – Console

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Concept Selection – Chassis

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Concept Selection – μC Mount

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System Prototyping

Predefined sponsor and provided chassis

Nature of RC car development lends itself to rapid prototyping and modification Early prototyping conducted for further

system integration testing Documentation of modifications along

the way to develop iterated platform design

Familiarization with platform and diverse microcontroller options crucial to successful project

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Chassis Prototyping

ORIGINAL MODEL MODIFIED VERSION

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Movement!

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Adapter Plate Schematic

Adapter plate generated in cap to provide basis for future modifications

Design is simple and can be easily made using CNC for mass production

More CAD parts to be made for 3D printing

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Weight Analysis

Projected chassis weight slightly under last years RIT Freescale Cup car

Bigger wheels may help our car get over obstacles Possibly looking for stronger motors for the drivetrain

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Differential Drive Simulink

Preliminary system model created with PI control algorithm

Modifiable once parameters established

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Car Power Budget

Car power budget currently predicts high battery capacity requirement for 1 hr runtime

Initial testing suggests that battery weight might be an issue

Possible change to specs after further testing

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Circuit DiagramsCONSOLE RC CAR

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Total Project Budget

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Risk Assessment

Current Risk Assessment Financial Budget – Overshooting the project

budget will cause the project to be incomplete. Probable cause for this would be:▪ Bad benchmarking▪ Project plans not detailed (i.e. delays in shipping)

Budget will restrict the following:▪ Prototyping (Little to none depending on components

chosen)▪ Multiple backup parts for breakdown▪ Lack of functionality

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Risk Assessment (cont.) Runtime Breakdown/Failure – Breakdown of

mechanical and electrical components during testing and runtime Probable cause for this would be:▪ Bad shielding from elements/ poor electrical shielding and

connections▪ Extreme stress tests/ poor mechanical integrity▪ Bad simulation runs/ poor software analysis

This will result in:▪ Dysfunctional product▪ Increased stress on already limited budget▪ More time spent on electrical and mechanical

debugging/fixing10/01/13

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Test Plan

Test Chassis and Console Verify Physical Component Limitations

Test Wireless Communications Functioning Distance

Record Data at Imagine RIT User Feedback – Likert Scale Statistical Driving Data

Finalized Project Deliverables Total Cost, Event Entries, Component Specs,

Included System Functionality10/01/13

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Project Schedule

Next Three Weeks Establish design for control station Evaluate options for camera,

microcontroller, and other electronics Test chassis and determine spatial layout Make choices based on price and power

budgets Continuous benchmarking of new

technologies and ideas10/01/13

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Moving Forward

Budget constraints need to be refined to go forward with component selection

More knowledge of control systems is needed to refine the Simulink model

Simulink / student interfacing of controls program needs to be better defined for microcontroller selection

Movement controller needs to be improved for future testing

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Additional Information

House of Quality Test Plan

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Programmable Lap Explored the option

of using wheel revs and steering input to map a course for virtual mapping on a GUI

Does not account for slip in this version

Something to show driving paths using platform sensors

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