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Phong Le (EE) Josh Haley (CPE) Brandon Reeves (EE) Jerard Jose (EE) Sponsor : WCF Mentor: Ryan Reis (Lockheed Martin). Knight Sweeper 4200 Group 9. Goals and Objectives. Scan terrain based on s tart to end autonomous route Detection of IED Notify and pinpoint location of detection

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slide1
Phong Le (EE)

Josh Haley (CPE)

Brandon Reeves (EE)

Jerard Jose (EE)

Sponsor: WCF

Mentor: Ryan Reis (Lockheed Martin)

Knight Sweeper 4200Group 9

goals and objectives
Goals and Objectives
  • Scan terrain based on start to end autonomous route
  • Detection of IED
  • Notify and pinpoint location of detection
  • Avoid any obstacles encountered on route
motivation
Motivation
  • Use of IED has increased since the Vietnam War
  • Low Budget spending on platforms used for detecting IED’s
  • Technology improves but yet death by IED increases
  • More creative ways of utilizing IED’s
knight sweeper
Knight Sweeper
  • Knight Sweeper will be able to operate in autonomous and manual mode.
  • During autonomous mode Knight Sweeper will be able to navigate itself from a start to end point
  • During the autonomous operation Knight Sweeper will be able to avoid any IED or obstacle within its path
rover platform
Rover Platform
  • Identify type, size, wheels and motors.
  • A New Design
  • Use an existing design
rover platform1
Rover Platform
  • Carry maximum payload of 5 lbs.
  • Able to place sensors forward facing and down.
  • Capability to traverse different terrain types, i.e. dirt, grass, sand etc.
lynxmotion a4wd1
Lynxmotion A4WD1
  • Chassis
    • Length is 9.75”
    • Width is 8”
    • Height is 3.5”
    • Lexan Panels
  • Wheels
    • Diameter is 4.75”
    • Width is 2.375”
    • Rubber Tires
    • Output Shaft is 6 mm
  • Additional levels can be added if necessary
motor ghm 02
Motor GHM-02
  • Brushed DC Motor Type
  • Allows for Pulse Width Modulation Control
  • Fits the A4WD1 chassis
motor control
Motor Control
  • Identify how the vehicle will move.
  • Determine algorithm for obstacles.
  • Determine algorithm for detected IED.
  • Verify motor controller functionality.
motor controller
Motor Controller
  • H-Bridge configuration
    • Forward
    • Reverse
    • Brake
    • Clockwise Rotation
    • Counterclockwise Rotation
l298n
L298N

L = Low H = High X = Don’t Care

ied detection
IED Detection
  • Beat Frequency Oscillation
    • Two separate coils oscillator and a search coil
    • Oscillator creates a constant signal at a set frequency
    • Detection of metal by search coil creates a magnetic field
    • Magnetic field interferes with radio frequency, offset in frequency then creates an audible beat
tda0161
TDA0161
  • Metallic detection done by detecting variation in high frequencies
  • Output signal determined by supply current changes
  • Current is high or low depending on the presence of a close metallic object
  • Output Current 10mA
  • Oscillator Frequency 10MHZ
  • Supply Voltage 4-35V
ied detection2
IED Detection
  • Two external circuits to implement two TDA0161 IC’s.
ied detection4
IED Detection
  • When the search coils detect metallic objects pin 6 outputs 1v
ied detection5
IED Detection
  • Two search coils needed to cover the width of the vehicle
  • Each coil made with magnet wire
  • Both coils set at about 155 uH
  • Fixture to extend the coils in front of the actual vehicle
ied detection6
IED Detection
  • Old PCB’s found in the lab will be used to simulate IED’s
  • Copper is easily picked up by the search coils
  • FREE
obstacle avoidance
Obstacle Avoidance
  • One Maxbotix LV-MaxSonar-EZ0 High Performance Module mounted on front
  • Detection Range 6”-245” w/ 45 degree beam width
maxbotix lv maxsonar ez0
Maxbotix LV-MaxSonar-EZ0
  • Use of three pins
    • GND (Ground)
    • Vcc (+5 V)
    • Analog Pin (Output)
  • Analog Pin
    • Outputs a voltage proportional to the distance
    • Range Formula : Vm/Vi=Ri
      • Vm = Measured Voltage, Vi = Volts per inch (scaling factor of 9.76mV), Ri = Range.
ttl serial jpeg camera w ntsc video
TTL Serial JPEG Camera w/ NTSC Video
  • Extras
    • Manually Adjustable Focus
    • Auto white balance
    • Auto brightness
    • Auto contrast
    • Motion detection
    • Multiple Resolutions
gps navigation
GPS Navigation
  • Pro Gin SR-92
    • Update time: 1 second
    • Baud rate 9600 bps
    • 3.3V Required
    • 40 mA continuous tracking mode
    • 5 Pin interface
    • Send data over serial
compass
Compass
  • LSM303DLH
    • Supply voltage of 2.5-3.3V
    • 16 bit data out
    • Serial interface
    • 3 magnetic field and 3 accelerometer channels
    • Sleep-to-wake up mode
    • Current consumption of (3uA-83mA)
wireless module
Wireless Module
  • XBee-PRO
    • Range of 300m indoor
    • Range of 1500m outdoor
microcontroller
Microcontroller
  • Stellaris M3 8962 Dev board.
  • Stellaris offers high computational power at 62.5 MIPS.
  • Offers 64K of RAM
    • Important for the A* algorithm
  • Interrupt Driven
  • Abundance of code examples and libraries
  • 74HC4052 Analog MUX for UART multiplexing
power system
Power System
  • Integrated Power Supply
    • 14.8 VDC
      • DC motors
      • IED Detection
    • 5 VDC
      • Stellaris Microcontroller
      • Serial Camera
      • Obstacle Avoidance
    • 3.3 VDC
      • GPS Navigation
      • Wireless
      • Compass
power
POWER

14.8V

5V

3.3V

DC Motors

IED Detection

5V Reg

MCU

Obstacle

Avoidance

14.8V

Wireles

GPS

Compass

Serial Camera

3.3V

Reg

lithium polymer battery
Lithium Polymer Battery
  • Tenergy Lithium Polymer Battery
      • 14.8V at 5500 mAh
  • Reasons for choosing
    • High energy density (Wh/kg)
    • High energy/dollar (Wh/$)
    • High charge efficiency (80-90%)
    • Low self-discharge
linear vs switching regulators
Linear vs. Switching Regulators
  • Linear Regulators
    • Easy to implement
    • Heat sink usually required
    • ~50% efficient
    • Clean voltage
  • Switching Regulators
    • Up to 88% efficient
    • Requires more components
    • Reduction in size of Heat sink needed
    • Sawtooth ripple voltage at the switching frequency
switching regulators
Switching Regulators
  • Texas Instruments TL2575 Family (3.3V ,5V, 12V, and adjustable.
  • Up To 88% Efficient (about 1V goes to heat)
  • Apply a small LC filter to reduce output ripple by a factor of 10.
power1
POWER

14.8V

5V

3.3V

DC Motors

IED Detection

5V Reg

MCU

Obstacle

Avoidance

14.8V

Wireles

GPS

Compass

Serial Camera

3.3V

Reg

software overview
Software Overview
  • PC Software
  • Operator Interface
  • Allows for control
  • Display of robot status
  • Embedded Software
  • Initialize Systems
  • Interrupt Driven Obstacle and IED detection
  • Autonomous Navigation

Wireless

pc software
PC Software
  • Written In java
  • Displays current location
  • Command Modes
communication interface
Communication Interface
  • Layered Approach via Xbee wireless

Embedded Software

PC Software

Application Layer

Application Layer

UART Layer

UART Layer

Xbee Wireless

Xbee Wireless

embedded software
Embedded Software
  • C++ via Code Composer
    • Each hardware system has a class
  • Utilizes Stellaris Ware Libraries
  • 4 Modes

Standby

Auton-omous

Manual

Error

slide46

Not Depicted:

  • 1Hz Telemetry Message
  • No Valid Path
ai navigation
AI Navigation
  • Problem: Quickest Way from A to B avoiding all known obstacles and suspected IEDs
  • Use the A* algorithm to find the shortest path
  • Upon IED/Obstacle detection, remove location from the search path and run A* again!
ai navigation example
AI Navigation Example

Creative Commons License 3.0 from Wikipedia

system classes
System Classes

ObstacleDetection

IEDDetection

SerialCamera

GPS

MessagePacket

PCserial

Main

OLED

Compass

boolvalidMessage()

BoolsetChecksum()

IntgetPayload(unsigned char* returnDatapointer)

BoolsetPayload(messageType, char* ipayload, intpayloadLength)

IntgetLength()

IntgetRawMessageData()

void initchip()

void PCSerialISR()

void processRXmessage()

Void send1HzTM()

Void navigate()

Void runNextMove()

Intmain()

void initDisplay()

void dispSplash()

void clrScreen();

Void printLn(char* string);

void init()

void getPicture(unsigned char* returnPointer)

Void initPCSerial()

intsendMessage(char* buff, intnum)

BoolgetMessage()

void init()

Float getReading()

void ObstacleISR()

voidinit()

void getHeading()

voidinit()

IntgetStatus()

returnLocation()

void init()

Float getReading()

void IEDISR()

prototyping
Prototyping
  • Completed
    • Motor controller
    • Power Regulation
    • Wireless Communication
    • Manual Control
testing
TESTING
  • Knight Sweeper test
printed circuit boards
Printed Circuit Boards
  • Using Eagle 6.1.0
  • 2 PCB’s will be made
    • Power Regulation and Motor Control
    • Sensors, camera, GPS and wireless
printed circuit board sensors
Printed Circuit BoardSensors

Top LayerBottom Layer

printed circuit board final boards
Printed Circuit BoardFinal Boards

Motor Control and Power

Sensors

distribution of responsibilities
Distribution of Responsibilities
  • Phong Le
    • IED Detection
    • Project Management
  • Josh Haley
    • GPS
    • Serial Camera
    • Main Board
    • Lead Software Engineer
  • Brandon Reeves
    • Obstacle Avoidance
    • Power Systems Lead
  • Jerard Jose
    • Motor control lead
    • Platform Selection
    • PCB Fabrication Lead
what keeps us awake at night
What Keeps Us Awake At Night
  • -GPS Accuracy
  • Camera
  • -IED Detection range
  • -Noise from Various Components
  • -Deviation between internal map and real world.
  • -INDUCTORS!!!!
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