tbd control commands (via ethernet) video feed, sensing data (via ethernet) jay brasch kirk nichols...
Post on 20-Jan-2016
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TBDControl Commands (via Ethernet)
Video Feed, Sensing Data (via Ethernet)
Jay BraschKirk Nichols
Daniel KopeloveKatrina Bossert
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Solution
• Create a vehicle to assist emergency responders in identifying hazardous materials.– Low Cost– Remotely Operable– Intuitive interface
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Project Overview
• Create a sensing vehicle with the following functionality– Natural gas sensor– Geiger counter– Streaming video
• Control various aspects of the vehicle– Orientation and position of vehicle– Yaw/Pitch control of camera (two-axis control)
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Introducing SCAB
• On-Vehicle Control Board • ARM-7 LPC2214 Processor– 2 UART ports– 2 I2C ports– SPI ports– PWM ports– Multiple external interrupt pins– Multiple A/D converters
• Offers Ethernet, servo, DC motor control
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Sensors
• Deliverable– GCK-05 Geiger Counter– Micropel75 combustible gas sensor• %lel
– Ethernet camera• Extensions– MaxSonar range detector– HMC6352 2-axis compass– Vex Robotics optical shaft encoder
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Ethernet Control• Linksys router configured as access point. – DD-WRT
• ENC28J60– Integrated Ethernet Controller and Drive Magnetics with
RJ-45 connector (CAT5 cabling)– SPI I/F to ARM microcontroller running at 25MHz– 64kB ram for tx/rx buffers– Link status LEDs and link connectivity
• User-end is implemented in LabVIEW– May require POSIX TCP server
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User Interface
• Deliverable– LabVIEW GUI– Keyboard input
• Extensions– Vuzix iwear VR920 HUD– Joystick control
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Testing/Debugging
• SCAB– UART Control– JTAG Support– Various Debugging Ports– Battery Charge Profiling
• Network Reliability/ Dynamic IP Handling• Black box/white box approach
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Schedule
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HUD
ResponsibilitiesKirk
Katrina
Jay
Dan
Ethernet Communication
Router
SCABVehicle
LabVIEW
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Risk Analysis and Mitigation• Ethernet driver doesn’t work, unable to port TCP/IP stack to
ARM7 score: 25– RS232 to IEEE 802.3 converter– Really long cable
• LabVIEW network connectivity score: 16– Embedded C program– Stand alone C program populating flat-file
• DC Motor Control (currently intermittent reliability) score: 8– Off-the-shelf solution integration
• VR goggles low fidelity score: 4– Fall back to keyboard and monitor based control
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Additives
• Kirk – VR Goggles• Jay – USB Joystick• Katrina – ChemFET• Dan – Audio
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CDR Milestone
• Deliverables– Geiger counter fully functional– SCAB rev c populated and under testing– LabVIEW GUI menu control
• Roadblocks– Appropriate LabVIEW modules
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Milestone 1
• Deliverables– SCAB rev c installed on vehicle
• Controlling motors• Controlling camera
– Embed video stream in LabVIEW– Router configured as access point
• Roadblocks– How well can LabVIEW interface with Ethernet?– Is video feed sufficiently fast to steer remotely?– Network Latency
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Milestone 2
• Deliverables– SCAB rev c has Ethernet enabled interface• Transmits telemetry data to LabVIEW interface
– LabVIEW has complementary Ethernet interface• Transmits control commands to SCAB
– Vehicle can run 1 hour from battery
• Roadblocks– TBD
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BudgetIn OwnershipSCAB rev bVuzix iwear VR920Geiger CounterTraxxas ChassisIn OwnershipSCAB rev bVuzix iwear VR920Geiger CounterTraxxas ChassisHMC6352 Digital Compass Additional MaterialsSCAB rev c 60SCAB rev d 60Misc. Parts 50Webcam 50Used Laptop 400USB Joystick 30Chassis Modification 35Micropel75 Gas Sensor 125Battery 30Total 840
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Questions?
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Schedule
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System Diagram
NXP 2214
ADC(2)
Gas Sensor
(Range Sensors)
Pulse(2)
Geiger(Velocity)
(Compass)I2C(3)
Sensing Ports
Olimex Port?
DC Motor
DC Motor
Servo(3)
UART(5)+
ATF750 CPLD
System Information
Vehicle Control
Battery Level
Battery Level
Debug Port
Debug Port
EthernetBase Station
Linux LaptopLinux
Laptop LabVIEWLabVIEW
Vuzix HUDVuzix HUD
USB Joystick
(Peripherals)
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Functional requirements