Phong
This presentation is the property of its rightful owner.
Sponsored Links
1 / 63

Knight Sweeper 4200 Group 9 PowerPoint PPT Presentation


  • 63 Views
  • Uploaded on
  • Presentation posted in: General

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

Download Presentation

Knight Sweeper 4200 Group 9

An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -

Presentation Transcript


Knight sweeper 4200 group 9

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


Specifications

Specifications


Hardware block diagram

Hardware Block Diagram

Power

Data


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.


Rover platform comparison

Rover Platform Comparison


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


Motors

Motors


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


Ic h bridge

IC H-Bridge


L298n

L298N

L = LowH = HighX = Don’t Care


L298n1

L298N


L298n2

L298N


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 detection1

IED Detection


Ied detection2

IED Detection

  • Two external circuits to implement two TDA0161 IC’s.


Ied detection3

IED Detection


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.


Serial camera

Serial Camera


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.


    Switching regulator circuit

    Switching Regulator Circuit


    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


    Knight sweeper 4200 group 9

    • 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


    Voltage vs time

    Voltage vs. Time


    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 power regulation motor control

    Printed Circuit BoardPower Regulation & Motor Control

    Top LayerBottom Layer


    Printed circuit board sensors

    Printed Circuit BoardSensors

    Top LayerBottom Layer


    Printed circuit board fabrication

    Printed Circuit BoardFabrication


    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


    Budget

    Budget


    Project schedule

    Project Schedule


    Project schedule1

    Project Schedule


    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!!!!


    Knight sweeper 4200

    Knight Sweeper 4200

    QUESTIONS?


  • Login