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Team Ocho Cinco

Team Ocho Cinco. Raymond Chen Zhuo Jing Brian Pentz Kjell Peterson Steven Pham. The Ocho Cinco Mobile (OCM). Purpose. Touch-screen interface Analog path controlled navigation Obstacle avoidance Remote terrain mapping Bluetooth communication. Objectives.

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Team Ocho Cinco

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  1. Team Ocho Cinco Raymond Chen Zhuo Jing Brian Pentz Kjell Peterson Steven Pham

  2. The Ocho Cinco Mobile (OCM)

  3. Purpose • Touch-screen interface • Analog path controlled navigation • Obstacle avoidance • Remote terrain mapping • Bluetooth communication

  4. Objectives • Minimum: Design a vehicle controlled remotely by drawing a path on a handheld touch-screen computer. • Target: Include obstacle avoidance feature with minimal path deviation. Utilize Bluetooth to provide real-time stats to touch-screen • Optimal: Implement terrain and obstacle mapping capabilities updating the map in real-time.

  5. Overall Block Diagram

  6. Subsystem:Bluetooth Link • Benefits • Low Power • Desired Range (30ft) • Built into TSC • Easily Realizable • Built in UART • Reliable Link • 2000kbps+ transmission speeds

  7. Subsystem:Touch-screen Controller (TSC)

  8. Hewlett Packard iPaq h2200 • Intel PXA255 XScale processor @ 400 MHz, 64 MB of SDRAM, and 32 MB of ROM. • 4.54 x 3.0 x 0.61 inches, 5.1 ounces. • Runs Microsoft Windows Pocket PC 2003

  9. TSC: Graphical User Interface • Predefined Obstacles (Defined on the initial map) are shown in blue. • Draw the desired path using the touch-screen. • The currently completed path is shown in green, and new obstacles are shown in red.

  10. Subsystem: Regional Positioning System • Keys to Success • Omni-directional • Accurate and live • Method 1 - RF Chirps • Power drop-off analysis • RF transceivers for beacons and the vehicle • Pros: Straight-forward setup • Cons: Poor accuracy and sensitivity

  11. Subsystem: Regional Positioning System • RF Chirps

  12. Subsystem: Regional Positioning System • Method 2 - Cameras • Two camera beacons • LED tracking on vehicle • Pros: Better accuracy and sensitivity • Cons: Complicated setup

  13. Subsystem: Regional Positioning System • Camera Beacons

  14. Subsystem: Power

  15. Subsystem:Battery Sealed Lead Acid Battery • 12V, 3.2AH • Weight: 1300g (2.87lb) • Dimension: L134mm x W67mm x H60mm

  16. Subsystem: Motor

  17. Subsystem: Motor S23HT140-S Stepper Motor • Step Angle: 1.8 Deg/Step • 4 Wires • Phase Current: 2.8A/PH • Step Accuracy: +/- 5%

  18. Subsystem: Motor Layout

  19. Subsystem: Collision Detection System • Infrared Proximity Sensor • Sharp GP2Y0A21YK • Detection Features • Distance: 10 to 80 cm • 12 cm detection diameter • Feasibility • A/D converter to FPGA • More economical than sonar

  20. Subsystem: Collision Detection System • Map Updates • Simple • Uniform obstacle detection • Advanced • Variable shape and size

  21. Responsibilities • Touchscreen Controller – Kjell Peterson • Bluetooth – Brian Pentz • Regional Positioning System – Raymond Chen • Motor/Power – Zhuo Jing • Collision Detection System – Steven Pham

  22. Project Timeline

  23. Risks / Contingency Plans • Unfamiliarity of RPS technology • Motor step approximation • Complex integration • Integrate fundamental components first • Radio frequency interference • Use adaptable technology • Windows Mobile 2003 • Scale down GUI • Overheating • Add fan or heat-sinks

  24. Questions?

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