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Faculty Review Presentation Group 7 Jason Dumbaugh Artiom Bell Koltan Riley II

KIFT Knight Industries Five Thousand. Faculty Review Presentation Group 7 Jason Dumbaugh Artiom Bell Koltan Riley II. UCF. SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE. Project Overview. Purpose: School of Electrical Engineering and Computer Science exit requirement

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Faculty Review Presentation Group 7 Jason Dumbaugh Artiom Bell Koltan Riley II

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  1. KIFT Knight Industries Five Thousand Faculty Review PresentationGroup 7Jason DumbaughArtiom BellKoltan Riley II UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  2. Project Overview • Purpose: • School of Electrical Engineering and Computer Science exit requirement • To build a fun, working Senior Design project that won’t break the bank. • To develop a project that is useful to the military, as well as other government agencies. • To introduce a product that the everyday consumer will be able to use. • To learn the dynamics of as many electrical components as possible (Bluetooth, GPS, Microcontroller programming, sensors) UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  3. Inspiration Knight Rider’s K.I.T.T. had: • Pursuit Mode – high-speed driving mode where KITT was in control of the car, allowing for autonomous movement. • Infrared Tracking Scope – allowed KITT to sense objects within 10 miles • Global Positioning System –KITT was outfitted with a state of the art GPS system, allowing it to locate its objectives. UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  4. Key Design Objectives KIFThas: • Pursuit Mode – The ability to drive itself without user input. • Tracking Scope – KIFT is be able to sense dangerous walls and other objects and maneuver around them. • Global Positioning System – KIFT is be able to locate objectives and drive to them without a driver. UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  5. Project Goals • KIFT should have a minimum of 30 minutes battery life while in operation • GPS should sample KIFT’s current position every one second • Sonar sensors should trigger evasion within 18 inches of an object • KIFT should be able to switch seamlessly between MANUAL mode and PURSUIT mode UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  6. Project Specifications • Color: Jet Black • Total vehicle length: 17.25 “ • Total vehicle height: 5.75” • Total vehicle weight: 4.4 lb • Total vehicle ground clearance: 1.25 “ • Total sensors: 3 • Total battery sources: 2 • Total battery life: ~45 min. • Vehicle max speed: 21 mph • Vehicle min speed: 0 mph UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  7. Block Diagram Bluetooth Controller Bluetooth Module Sensor 1 GPS Microcontroller Sensor 2 Sensor 3 Drive Train UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  8. Responsibility Chart UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  9. HARDWARE UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  10. Chassis Selection Hitari K.I.T.T. • 1:15 scale Replica of vehicle in Knight Rider • Cost Efficient for a RC Vehicle ($65 USD) • K.I.T.T. comes fully assembled UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  11. Chassis Selection Downsides of using Hitari K.I.T.T. • Not easily modifiable • Shell is heavy • Shell isn’t quick release • Schematics not available • Too small, no room for components • Too many internal circuits • Factory installed circuit cards make modification and manipulation difficult. UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  12. Chassis Selection Evader • 1:10 scale to 2WD stadium truck • Reasonable cost for a Hobby RC Vehicle ($100 USD) • Due to the minimal use of circuit cards in the Evader, the chassis is light enough to increase battery efficiency • Ample space for our circuitry UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  13. Design Objectives KIFT chassis • Integration of KITT theme: • Maintaining KITT light scanner • Jet black paintjob • Bright headlights UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  14. Communication Interface Need Bluetooth connection • Should be capable of Class II minimum • Should be able to implement Bluetooth 2.0 or Bluetooth 2.1 + EDR • Needs to support most Bluetooth profiles • Should be cost efficient UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  15. Bluetooth ® Chip Selection Bluegiga WT32 • HID (Human Interface Device) profile and many others • Bluetooth 2.1 compliant • Integrated Antenna • Class II: ~30m range • USB, UART, PCM, SPI • Low Power Consumption • Cheap ~$50 UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  16. Bluetooth ® Chip Selection Bluetooth ® Mate RN-41 • Simplicity in establishing communication. • Specifically designed to work with Arduino development boards. • Capable of operating in harsh RF environments such as WiFi, and ZigBee. UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  17. Bluetooth ® Controller Playstation3 SIXAXIS • Bluetooth Capabilities • The Range of Motion within 30 ft. • SIXAXIS™ Technology • Battery Life ( 30 Hrs.) • Rechargeable (USB Charger) • High amount of input buttons UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  18. Bluetooth® Controller Negatives of Playstation3 SIXAXIS • Proprietary hardware difficult to get a technical manual or schematics. • Modifying the pairing sequence of the Bluetooth is challenging due to the fact that Playstation 3 controller is design to always pair with a PS3 system UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  19. Bluetooth® Controller MSI Wind netbook • Bluetooth Capabilities • Ability to pair with multiple Bluetooth devices • The Range of Motion within 30 ft. • Battery Life ( 6 Hrs.) • Rechargeable • High amount of input buttons UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  20. Microcontroller Selection LPC2148 • 60MIPs ARM processor with 512k flash • Runs with simple robust protocol on UART, SPI, I2C • All FAT, USB, and peripherals are accessible from Java Programs • USB device • All I/O pins are 5 V tolerant • Enumerates as a USB mass storage UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  21. Microcontroller Dev Board ALFATxp • Can be easily used with any microcontroller including PIC, AVR • 2 Serial Ports • More prototyping room • Supports MultiMedia Card (MMC) and Secure Digital • All features of the Uberboard • Java Virtual Machine • Unoccupied I/Os UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  22. Microcontroller Dev Board Downsides of using ALFATxp • Expensive • Limited support from manufacturer • Difficult to program • Bulky and too large for chassis UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  23. Microcontroller Dev Board Arduino Mega • Inexpensive • Massive support network through forums • Large amounts of sample code available • Small size • Expandable board capability UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  24. Microcontroller Dev Board Arduino Mega Specifications • AVR Atmel ATmega1280 microcontroller • 54 Digital I/Os • 12 of which are capable of PWM • 14 Analog inputs • 5V operating voltage • 4 UARTs • Powered by USB, Barrel Jack, or 7-12V battery input UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  25. GPS Selection EM-408 • Inexpensive • Easy to implement in project • Lightweight • Relatively small • Easy to mount to chassis • Optional MMCX antenna connection UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  26. GPS Selection EM-408 specifications • SiRF III Chipset • 20-Channel Receiver • Extremely high sensitivity : -159dBm • 10m Positional Accuracy / 5m with WAAS • Hot Start : 8s / Warm Start : 38s / Cold Start : 42s • 75mA at 3.3V • 20gram weight • Outputs NMEA 0183 and SiRF binary protocol UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  27. Sonar Sensor Selection Devantech SRF05 • Easiest technology to adopt (Sonar) • Lightweight • Inexpensive • Easy to implement into project • Code readily available UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  28. Sonar Sensor Selection Devantech SRF05 specifications • TTL Interface (0 and 1) • Min range: 3cm radial • Max range: 4m radial • 40kHz frequency • Easy to manipulate • Moderately priced ~$30 each • Need 4 sensors UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  29. Power Supply • Primary: Duratrax Starter Battery Pack • required for the EVADER. • Secondary: 9V battery • designed to power the other electrical components of the vehicle (GPS, Bluetooth, Sensors, Microcontroller) UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  30. Primary Power Supply Duratrax Starter Box Power Pak DTXP4600 • Contains: AC wall Charger, 2 1500mAh 7.2V 6 cell flat battery (Ni-Cd) packs • Charger:Capable of fully recharging the battery pack in a 2-3 hour time frame. • Inexpensive ~$40 UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  31. Secondary Power Supply • Source: 9V Battery • Capable of providing the necessary constant voltages to the electrical components. • Components operate at either 3.3V or 5V UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  32. Other Interfacing Aspects • GPS • Connected to MegaKIFT’s UART 2 (RX2 and TX2) via a 5-pin surface mounted header • Bluetooth • Connected to MegaKIFT‘s UART 1 (RX1 and TX1) via a single 6-pin header • Propulsion • The MegaKIFT sends out two PWM signals through two 3-pin headers for Left/Right and Forward/Reverse controls • Sensors • Three 3-pin headers are used from the Digital pins of MegaKIFT • KIFT Scanner • The KIFT light scanner is connected to a single 6-pin header on MegaKIFT UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  33. MegaKIFT’s PCB layout UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  34. MegaKIFT’s PCB layout Sponsored by: UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  35. PCB Prototype MegaKIFT v1.0 • Based off of Arduino Stacker • Custom PCB design for the layout of electrical components of KIFT. UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  36. SOFTWARE UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  37. Programming • GPS module: Serial2.begin(4800); pinMode(GPS_RX,INPUT); pinMode(GPS_TX,OUTPUT); Serial2.println("$PSRF103,00,00,00,01*24"); //disables GGA Serial2.println("$PSRF103,01,00,00,01*27"); //disables GLL Serial2.println("$PSRF103,02,00,00,01*26"); //disables GSA Serial2.println("$PSRF103,03,00,00,01*27"); //disables GSV Serial2.println("$PSRF103,04,00,01,01*21"); //enables RMC Serial2.println("$PSRF103,05,00,00,01*21"); //disables VTG UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  38. Programming • GPS module: char dataformat[7] = "$GPRMC"; messageline[0] = Serial2.read(); if(messageline[0] == 36){ //checks for ‘$’ i++; for(i=1;i<70;i++){ messageline[i] = Serial2.read(); } if (strncmp(messageline, dataformat, 6) == 0) { for(i=0;i<69;i++){ Serial.print(messageline[i]); } UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  39. Programming • GPS module: $GPRMC,005745.000,A,2836.0507,N,08111.8536,W,0.66,103.92,291109,,*15 Latitude: 2836.0507 Longitude: 8111.8536 UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  40. Programming • Sonar Sensors: #define SS1_PIN 25 //defines pin variable pinMode(SS1_PIN,OUTPUT); //sets as output digitalWrite(SS1_PIN, LOW); // pulls low delayMicroseconds(2); //delays 2uS digitalWrite(SS1_PIN, HIGH); //pulls high delayMicroseconds(10); //delays 10uS digitalWrite(SS1_PIN, LOW); //pulls low again pinMode(SS1_PIN,INPUT); //changes to input UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  41. Programming • Sonar Sensors: //waits for SS1 pin to run high with pulse return, //times out after 30ms pulseTime= pulseIn(SS1_PIN, HIGH, 30000); delay(50); objDistance= pulseTime/148; //converts to inches Serial.println(objDistance); pinMode(SS1_PIN,OUTPUT); //resets output UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  42. Programming • Autonomous Mode: #define PWM1_PIN 45 #define PWM2_PIN 7 pinMode(PWM1_PIN,OUTPUT); pinMode(PWM2_PIN,OUTPUT); TCCR5A = B00100001; // Phase and frequency correct // PWM change at OCR5A TCCR5B = B10010; // prescalingthe system clock OCR5A = 14970; // 66.8002672Hz OCR5B = 1497; // 10% duty cycle UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  43. Programming • Autonomous Mode: objDistance[1] = runSonar1(); objDistance[2] = runSonar2(); if((objDistance[1] > 24) && (objDistance[2] > 24)){ while((objDistance[1] > 24) && (objDistance[2] > 24)){ CENTER(); FWD(); } } UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  44. Programming • Autonomous Mode: else if((objDistance[1] < 24) && (objDistance[2] > 23)){ while((objDistance[1] < 24) && (objDistance[2] > 23)){ LEFT(); FWD_avert(); } } else if((objDistance[1] >23) && (objDistance[2] < 24)){ while((objDistance[1] >23) && (objDistance[2] < 24)){ RIGHT(); FWD_avert(); } } UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  45. Programming • Autonomous Mode: else if((objDistance[1] < 24) || (objDistance[2] < 24)){ EVADE(); } UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  46. Programming • Autonomous Mode: void EVADE(){ REV_STOP(); for(i=0;i<15;i++) REV(); FWD_STOP(); objDistance[1] = runSonar1(); objDistance[2] = runSonar2(); UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  47. Programming • Autonomous Mode: if(objDistance[1] < objDistance[2]){ LEFT(); for(i=0;i<10;i++){ FWD(); } } else{ RIGHT(); for(i=0;i<10;i++){ FWD(); } } UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  48. Programming • Autonomous Mode: void STOP(){ OCR5B = 1400; OCR5B = 1500; } void FWD(){ OCR5B = 1625; objDistance[1] = runSonar1(); objDistance[2] = runSonar2(); if((objDistance[1] < 24) || (objDistance[2] < 24)) REV_STOP(); } void REV(){ CENTER(); OCR5B = 1340; objDistance[3] = runSonar3(); Serial.print("Reverse Sensor: "); Serial.println(objDistance[3]); if(objDistance[3] < 18) FWD_STOP(); } void REV_STOP(){ OCR5B = 1220; delay(20); STOP(); Serial.println(OCR5B); } void FWD_avert(){ if((millis() - temp_millis) > 100){ LEDsequence(); temp_millis = millis(); } OCR5B = 1625; //delay(10); //Serial.println(OCR5B); objDistance[1] = runSonar1(); objDistance[2] = runSonar2(); if((objDistance[1] < 24) || (objDistance[2] < 24)) REV_STOP(); //loop(); } void FWD_STOP(){ Serial.println("Forward STOP"); OCR5B = 1400; OCR5B = 1625; delay(15); STOP(); Serial.println(OCR5B); } void CENTER(){ Serial.println("CENTER"); OCR4B = 1400; OCR4B = 1504; } void LEFT(){ Serial.println("LEFT"); //for(i=1504;i>1272;i--) OCR4B = 1250; } void RIGHT(){ Serial.println("RIGHT"); //for(i=1504;i<1931;i++) OCR4B = 1931; } UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  49. Testing • Stage 1 • GPS acquisition • Sensor response • Stage 2 • PWM control with sensors • Bluetooth pairing • Stage 3 • Autonomous mode using sensors • GPS location algorithm • User interface UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

  50. Testing Video UCF SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

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