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Project NadeCam. Charles Chen Katie Corner Danny Costinett Bob Pomeroy Jeries Shihadeh. Overview. Bob. Project Review Implementation Hardware Software Division of Labor Budget Schedule Progress and Concerns Questions. Project Review. Bob. NadeCam Thrown camera unit

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Project nadecam

Project NadeCam

Charles Chen

Katie Corner

Danny Costinett

Bob Pomeroy

Jeries Shihadeh


Overview
Overview

Bob

  • Project Review

  • Implementation

    • Hardware

    • Software

  • Division of Labor

  • Budget

  • Schedule

  • Progress and Concerns

  • Questions


Project review
Project Review

Bob

  • NadeCam

    • Thrown camera unit

    • Receiver station to capture images

    • Present images in interactive 3D view

    • 640x480 JPEG

    • 1 FPS Minimum


Power Management

Energy Storage

LDO 1

Digital Camera 1

Digital Camera 2

Data Transmission

LDO 2

Data Processing/Storage

Energy Storage

Sensor

FPGA

Counters

Additional Components

Data Bus

SRAM

Control Bus

µProcessor

Accelerometer

Gyroscope

RF Transceiver

PC Base Station

Magnetometer

RF Transceiver

RS-232 Transceiver

Matching Network

Jeries


Camera
Camera

Choice and Use

Charles


Cameras
Cameras

  • Currently Have:

    • COMedia Ltd C328-7640

      • Low Cost Camera Unit w/ JPEG compression

    • Videology 20K14XDIG

      • 1/4” Color CCD Board Camera

Charles


C328 7640 camera
C328-7640 Camera

  • Multiple Color formats and resolutions + RS232 communication

  • Connected to STK500 board and tested w/ Logic Analyzer initially, then MatLab

  • Found to be very unreliable (Auto-Baud rate detection is questionable)

Charles


C328 7640 camera1
C328-7640 Camera

Charles

  • Instruction Sequence:

    Reset (AA 08 00 00 00 00)

    Sync (AA 0D 00 00 00 00)

    Ack (AA 0E 0D xx 00 00)

    Sync (AA 0D 0D xx 00 00)

    Ack (AA 0E 0D xx 00 00)

    Initial Preview, VGA resolution (AA 01 00 06 07 xx)

    Ack (AA 0E 01 xx 00 00)

    Snapshot Picture Type Uncompressed

    Ack (AA 0E 05 xx 00 00)

    Get Picture

    Ack (AA 0E 04 xx 00 00)

    Picture Info (AA 0A 01 ~~ ~~ ~~)

    Picture Data Stream

    Ack (AA 0E 0A xx 00 00)



20k14xdig
20K14XDIG

  • Digital output, w/ automatic gain control, backlight compensation, and white balance

  • Shutter Speed 1/60 s to 1/100,000 s

  • I2C control communication

Charles


Orientation
Orientation

Accelerometer, Magnetometer and Gyroscope

µProcessor

Accelerometer

Gyroscope

Magnetometer

Katie


Accelerometers
Accelerometers

Katie

  • Detect down (but useless in freefall)

  • For prototyping and comparison:

    • Freescale MMA7455L: ±2g/±4g/±8g Three Axis Low-g Digital Output

    • STMicro LIS3LV02DL: 3-axis - ±2g/±6g

  • Final Choice (±16g, availability):

    • Analog Devices ADXL345: Three-Axis, ±2/4/8/16g Digital Accelerometer

      • Cost: $7.08 each (on DigiKey)


Gyroscopes
Gyroscopes

Katie

  • Detects angular velocity

  • Capable of correcting errors in magnetometer data

  • Much higher sampling frequency than magnetometer

  • Chosen parts, if needed:

    • STMicro LPR510AL, pitch & roll / yaw

    • 100-400 o/sec maximum detection


Magnetometers
Magnetometers

Katie

  • Can detect relative location, but not helpful near strong magnetic fields

  • Chosen part:

    • Honeywell HMC5843: 3-Axis Digital Compas IC

      • I2C Interface

      • 2.5V – 3.3V Operating Range

      • Cost: $19.20 each (on DigiKey)


Data transfer and storage
Data Transfer and Storage

FPGA and SRAM

Digital Camera 1

FPGA

Counters

SRAM

Charles


FPGA

Charles

  • Takes data from camera

  • Compress image data coming out of camera

  • Writes image data into SRAM

  • Used Cyclone II in Digital Logic


FPGA

  • Use 3rd party models for:

    • Testing – SRAM Simulations

    • Compression

      • Cast JPEG-E Baseline JPEG Encoder Megafunction

      • Available to Sample

      • “Can encode over 30 frames/sec for 4:3 HDTV, 1440x1152“

Charles


Memory structure
Memory Structure

Bob

Address bus tied to three 8-bit Binary Up/Down counters

FPGA -> Data In Bus -> SRAM

SRAM -> Data Out Bus -> uProcessor

FPGA can only write to SRAM

uProcessor can only read from SRAM



Control
Control

Microprocessor

Danny



Microprocessor
MicroProcessor

Danny

Texas Instruments MSP-430

Controls Camera via I2C

Samples the Orientation Sensors and stores a position vector

After image capture complete, sends data to the transceiver


Data write procedure
Data Write Procedure

Danny

uProcessor triggered by FPGA to sample sensors on picture

FPGA alerts uProcessor that it’s using the memory, writes the image+position data to SRAM

FPGA increments the counters connected to the SRAM address bus

FPGA alerts uProcessor that data write is complete



Power managment
Power Managment

Bob


Power management
Power Management

One-time use device

Sleep power consumption low for long inactive lifespan

Use standard batteries

Bob



Data transmission
Data Transmission

uProcessor and Transceivers

RF Transceiver

PC Base Station

RF Transceiver

RS-232 Transceiver

Matching Network

Danny


Data transmit procedure
Data Transmit Procedure

Danny

uProcessor raises read line, waits for FPGA to finish write to SRAM

Reads the image + orientation data out of memory

Decrement address counters after each

Send data to transceiver


Nrf24l01
nRF24L01+

2 Mbps on-air data rate

32 byte shockburst mode

Often used in low-power applications

Danny


Range test
Range Test

Using Chip and Trace antennas

Able to transmit through multiple walls/floor

Danny


User interface
User Interface

Software

Jeries


Graphical user interface
Graphical User Interface

Jeries

  • Completed

    • User Interface Layout

    • User Interface Interaction

      • Localized Mouse Clicking

      • Drop Down Menu

      • Rotating display

      • Steeping through trajectory path

  • Work to be Accomplished:

    • Display each time instant with correct orientation




Image Processing Flow at Base Station

Data

via

RS-232

Store and Parse

Data Packets

MATLAB

Resave

as

.bmp

Resize Image:

Dimensions

multiple of 2

Crop Image

to square

Store Images

in folder

Compute

Initial Position

(Accelerometer)

Compute

Orientation

(Magnetometer)

Store results

plus timestamp

in text file

Graphical User Interface

OpenGL

Katie


Graphical user interface1
Graphical User Interface

  • Possible Additional Features:

    • Animate NadeCam trajectory path

    • Image Processing

      • Lowlight detection

      • Face recognition

Katie


Logistics
Logistics

Jeries


Division of labor
Division of Labor

Jeries

  • Bob and Charles

    • Camera Control

    • Pre-Processing

    • Data Storage

  • Danny

    • PCB Design

    • Microcontroller

    • Power System

  • Katie and Jeries

    • Post Processing

    • UI Design

    • Orientation Sensing



Budget
Budget

Jeries



Milestones
Milestones

Milestone 1:

New camera operational

MCU able to transmit sensor data via RS-232

Images oriented based on sensor data

Milestone 2:

Camera and sensor data synched

Multiple pictures stored and transmitted via RF

Expo:

Meet frames per second goal

Packaged Device, extras.

Bob


Progress and concerns
Progress and Concerns

Progress

Basic camera images captured

Graphics ‘Sky-Box’ complete

RF Link demonstrated

FPGA with SRAM use setup

All parts chosen, test PCB ordered

Concerns

Use of orientation sensors (magnetometer noise)

New camera, new challenges

Time!

Bob



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