Tim southerton brian grosso matthew morris lalit tanwar kevin meehan alex reid
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RC Camera Car Subsystems Design Review P14226 10/29/13 PowerPoint PPT Presentation


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Tim Southerton Brian Grosso Matthew Morris Lalit Tanwar Kevin Meehan Alex Reid. RC Camera Car Subsystems Design Review P14226 10/29/13. Advisor : Dr. Becker-Gomez. Agenda Items. Background Review Proof of Concept Console Fabrication Timing Gate Wheel Speed Encoder

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RC Camera Car Subsystems Design Review P14226 10/29/13

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Tim southerton brian grosso matthew morris lalit tanwar kevin meehan alex reid

Tim Southerton

Brian Grosso

Matthew Morris

Lalit Tanwar

Kevin Meehan

Alex Reid

RC Camera CarSubsystems Design ReviewP1422610/29/13

Advisor: Dr. Becker-Gomez

RC Camera Car SDR


Agenda items

Agenda Items

  • Background Review

  • Proof of Concept

    • Console Fabrication

    • Timing Gate

    • Wheel Speed Encoder

    • Chassis Modification

    • Car Bumper

    • Console Controller

    • Xbee Communications

    • Wireless Camera

  • Pending Detailed Design Items

  • Testing / To Do List

  • Bill of Materials

RC Camera Car SDR


Problem definition review

Problem Definition Review

  • Project Goal:

    • Build a RC car platform controlled remotely with intuitive controls and visual feedback that can be expanded to demonstrate Controls to college students. The project needs to be captivating and able to demonstrate multidisciplinary engineering innovation at various RIT events this year and into the future.

  • Deliverables:

    • RC Car Platform with Cameras and Sensors

    • Driving Station with Controller

    • Equation of Motion of the System

    • Characterizing Parameters of the System

    • Source Code for Low Level Processing

    • Interface for Student Coding

    • Preliminary Differential Drive Code

    • Supporting Documentation

Addressed with First-Level Proof of Concept

To be Addressed with Further Proof of Concept Testing

RC Camera Car SDR


Stakeholders review

Stakeholders Review

  • Customer: Dr. Juan Cockburn

    • Controls Professor, RIT, Computer Engineering (CE)

  • Sponsors:

    • RIT CE Department, Multidisciplinary Senior Design (MSD)

    • Freescale Semiconductor

    • RIT FMS (Chris Furnare and Jim Shuffield)

    • RIT ME Robotics Lab

  • Event Attendees:

    • Imagine RIT, Freescale Cup 2014

    • Various Campus Symposiums and Workshops

  • MSD Team

  • Future RIT Researchers

  • Future RIT MSD Teams / Prospective Students

RC Camera Car SDR


Engineering req s review

Engineering Req.’s Review

  • Detailed Engineering Requirements

  • No current changes made to engineering requirements

  • Further proof of concept testing will now allow for detailed evaluation of specific parameters

    • Car Performance Data, Wireless Transmission, etc.

RC Camera Car SDR


Console fabrication poc

Console Fabrication POC

  • Risk: Medium

  • Metrics / Functions Addressed:

    • Seat User

    • Look Professional

    • Diversify Technologies

  • Built a preliminary console for proof of concept on component collection and platform for iterative design

RC Camera Car SDR


Console fabrication poc1

Console Fabrication POC

RC Camera Car SDR


Timing gate poc

Timing Gate POC

  • Risk: Low

  • Metrics / Functions Addressed:

    • Provide Competitive Element

    • Measure Movement

    • Event Entry

  • 66 cm Wide, 33 cm Tall

  • 450 mV Threshold for car passing IR Sensor

RC Camera Car SDR


Wheel speed encoder poc

Wheel Speed Encoder POC

  • Risk: High

  • Metrics / Functions Addressed:

    • Measure Movement

    • Characterize System

    • Provide Differential Drive

    • Move Car Chassis

  • Two Iterations 3D Printed

    • Color Choice, Diameter, Sensor Options, Spacing, Fits

RC Camera Car SDR


Wheel speed encoder poc1

Wheel Speed Encoder POC

1st Iteration Design

2nd Iteration Design

Optical Switch

Encoder

Encoder

Optical Switch

RC Camera Car SDR


Chassis modification poc

Chassis Modification POC

  • Risk: High

  • Axles and Calculations

  • Metrics / Functions Addressed:

    • Minimum Turning Radius

    • Manual Reset Required

    • Balance Expandability

    • Differential Drive Controls

    • Positive Visual Inspection

Car Current State

RC Camera Car SDR


Chassis modification poc1

Chassis Modification POC

RC Camera Car SDR


Chassis modification poc2

Chassis Modification POC

  • Risk: High

  • Preliminary Performance Testing

    • RC Car TX/RX Testing

    • Arduino + Xbee Encoder Data TX/RX

  • Metrics / Functions Addressed:

    • Physically Move Car

    • Transmit / Interpret Controlling Signals

    • Measure Movement

RC Camera Car SDR


Chassis modification poc3

Chassis Modification POC

Preliminary RF Setup

Preliminary Data

lspeed = 45.0/(lnow-lprevious)*1000*3.14*2.8/360/12 (feet/sec)

RC Camera Car Driving 10 27 13

RC Camera Car SDR


Car bumper poc

Car Bumper POC

  • Risk: High

  • Metrics / Functions Addressed:

    • Protect Components

    • Manual Reset Required

  • Added to protect the car during testing

    • No cost added PVC, Foam, Metal Standoffs, L-Brackets, Zip Ties

  • Plans to for a presentable bumper

    • Nylon for a bumper donated by Rob Kraynik

RC Camera Car SDR


Console controller poc

Console Controller POC

  • Risk: High

  • Metrics / Functions Addressed:

    • Respond to User Control Signals

    • Immerse User with Realistic Controls

  • Reverse engineering done on donated steering wheel / pedal controller

  • Determination of analog output options for user input to system

RC Camera Car SDR


Console controller poc1

Console Controller POC

Steering Encoder

Optical Switch

RC Camera Car SDR


Xbee communication poc

Xbee Communication POC

  • Risk: High

  • Metrics / Functions Addressed:

    • Transmit Controlling Signals

    • Interpret Controlling Signals

    • Respond to User Control Signals

    • Measure Movement

  • Successfully interfaced Xbee’s with Freescale KL25Z Board

RC Camera Car SDR


Wireless camera poc

Wireless Camera POC

  • Risk: High

  • Metrics / Functions Addressed:

    • Transmit Visuals

    • Give user driving feedback

  • Wireless camera with analog output determined as best option

  • Analog TX/RX modules used to transmit video to the LCD screen

  • Preliminary testing accomplished with Matt’s mini-camera and Robotics Lab video transmitters

    https://www.youtube.com/watch?v=JAYgUAG45Hg

RC Camera Car SDR


Pending detailed design items

Pending Detailed Design Items

  • Controls Algorithm Implementation

    • Interface with Simple User Code

    • Simulink to Microcontroller Interface

      • Embedded Coder Program

      • K60/K70 Microcontroller Constraint

      • Code Warrior Programming Interface

    • Linear Speed Sensing for Systems Model

      • Low speed applications of control algorithm

      • Affordable IMU most likely high signal to noise ratio

RC Camera Car SDR


Testing to do list

Testing / To Do List

  • Steering Wheel / Pedal Testing

    • ME’s: Access Hatch on Console

    • EE’s Tap Signals to Microcontroller

  • Wheel Speed Sampling Solution and Testing

    • Car Performance Testing

    • Range Testing of TX/RX

    • Optical Gate Speed Testing

  • K60/K70 Xbee / Motor Controller Integration

  • Controls Application Software Integration

    • IMU Measurement

  • Nylon Bumper Design and Fabrication

  • Wireless Camera Component Selection

  • Component Mounts

  • Aesthetics

RC Camera Car SDR


Bill of materials

Bill of Materials

Current Budget

  • Approximately $78.33 Spent Thus Far

  • Approximately $704.25 in Total Value of Parts

    • Student Donated ~$100

    • Freescale Donation 2 x ~$200 Chassis Kits

    • FMS / Free Items ~$80

  • Min. Projected Remaining Expenses $284.36

    • Wireless Camera, TX, RX

    • Casters, Course Materials, Nuts Bolts, Cables

RC Camera Car SDR


Additional slides

Additional Slides

P14226 EDGE Site

RC Camera Car SDR


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