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Mars Rover

Mars Rover. By: Colin Shea Dan Dunn Eric Spiller. Advisors: Dr. Huggins, Dr. Malinowski. Outline. Project Summary Review of Previous Work Division of Labor Project Description Data Sheet Equipment and Parts Design Changes Schedule Progress Update. Project Summary.

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Mars Rover

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  1. Mars Rover By: Colin Shea Dan Dunn Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski

  2. Outline • Project Summary • Review of Previous Work • Division of Labor • Project Description • Data Sheet • Equipment and Parts • Design Changes • Schedule • Progress Update

  3. Project Summary • The main objective is to design the Rover for long battery life that must last 7 days without recharging. • The Rover will use PC104 to control the interface among the user and the Rover and high level software. • It will also use the MicroPac 535 microprocessor to control low level software such as the motors for motion, the sonar system, and the battery level. • The user will be able to enter a specific distance, move the Rover using the keypad, or rotate the Rover to get a preferred direction.

  4. Previous Work • 2002 • Rob Shockency and Randall Satterthwaite • Robotic Platform Design • EMAC 8051 and a CPLD • Design Goals 1. Create Cheaper version of Telerobotics 2001 2. Upgradeable and expandable in the future

  5. Division of Labor Dan DunnColin SheaEric Spiller Assembly Code Java/Server Hardware - Motor Speed - Image Capture - DC Motors - Wheel Sensors - Rover Controls - Platform Construction - Battery Charge Level - Serial Communication - H-bridge/Motor Driver - Serial Communication - Battery Charger - Acoustics Sensors

  6. Functional Description • Wait mode – • All systems are powered, except the motors. • The CPU monitors the wireless card for network activity • The last image captured from the camera is displayed to the user. • Web page accessible to user • Battery Status is monitored • Sleep mode – • The sub-systems are powered down except for the CPU and the wireless network card. • CPU runs in a reduced power mode. • Web page accessible • Battery Status is monitored. • Rover remains in sleep mode until signaled by the user.

  7. Functional Description • Low battery mode – • Battery drops below 10% of charge • Email sent to Dr. Malinowski requesting a charge • Rover shuts down all components. • Charge mode – • Rover continues to charge until power button is pressed • Stays in this mode until battery level reaches 100% • User mode – • All Systems powered • Distance and Direction Control • Web Page accessible to user • Image capture and display • Battery Status is Monitored

  8. Functional Description

  9. System Block Diagram

  10. Software Flow Chart • High Level Software • Rover Control

  11. Software Flow Chart • High Level Software • Image Retrieval/Display

  12. Software Flow Chart • Low Level Software • Motor Control

  13. Software Flow Chart • Low Level Software • Object Detection

  14. Software Flow Chart • Low Level Software • Battery Voltage Level

  15. Data Sheet Specifications Turning accuracy - ± 5° for an individual turn command Turning resolution - 15° Driving accuracy - ± 5cm and ± 2° for a 100cm command Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT connection Weight – ~28lbs Battery life – 7 days without a recharge Top speed – 10cm/s Acoustic sensors – Time between transmit signals – 1 second Farthest object detection – 200cm Closest object detection – 50cm

  16. Data Sheet Motors – Model number – GM9X12 Gearing – 1:65.5 Max current – 4.56A Voltage – 12V Wheel Sensors – Output – TTL Pulses per revolution of shaft – 512 Voltage required – 5V Battery charge level accuracy - ± 5% Wireless protocol – 802.11b Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H) Battery – 2 X 12V @ 7.2Ah Wheels – 5cm x 16cm (Width x Diameter)

  17. Data Sheet PC104 – Max Current, during bootup – 1.5A Normal operating current – .8A Sleep mode current – .026A Processor – National Semiconductor Geode Processor @ 300MHz RAM – 128MB Video – Onboard Video card PCMCIA module – Current - .07A Wireless Card – Linksys WPC11 Max Current - .3A Current in Sleep mode - .02A Hard Drive – IBM Travelstar 2.5 inch IDE hard drive, 10GB Max Current - .94A (Spin-up Current) Current in Sleep Mode - .02A Camera – Logitech USB Webcam Max Current - .1A

  18. Power Calculations Power Consumption for Sleep Mode: PC104 computer .026A PC104 PCMCIA module .07A IDE Laptop Hard drive .015A PCMCIA Wireless Card .009A EMAC .045A + _____ Total .165A 24hrs * 7days = 168hrs 168hrs * .165A = 27.72 Ah @ 5V 27.72Ah * 5V = 138.6Wh Using 2 - 12 Volt, 7.2Ah batteries: 12V * 7.2Ah * 3 = 259.2 Wh available

  19. Power Calculations Power Consumption for User Mode: PC104 computer .8A PC104 PCMCIA module .07A IDE Laptop Hard drive .4A PCMCIA Wireless Card .285A EMAC .045A Camera .1A 2 Polaroid Ultrasonic 6500 .2066A + ______ Total 1.9066A

  20. Power Calculations • The motors chosen by the Robotic Platform Design project were Pittman GM9236, which pull 2A per motor. • Total with motors 1.9066A + 2A * 2 = 5.91A • If we assume that user is connected 1.3% (or 2.1 hrs out of a week) of the time, then power consumption is as follows: 36.5Ah * 5V = 182.48Wh required • [(4A * 12V + 1.9066A * 5V) * 1.3% + (.165A *5V)* 98.7%]*168hrs=259.2Wh required

  21. Parts and Price List

  22. Design Changes • Replaced Linux based operating system with Windows based operating system • Video Card was incompatible with Linux although manufacturer stated the card was compatible • Linux operating system was not stable on PC-104 board

  23. Design Changes • Flash Memory Card and PCMCIA Hard drive replaced by Laptop Hard drive • Flash Memory Card was not capable of booting the PC-104 at start-up • PCMCIA Hard drive was not visible by computer until system completed start-up sequence • Laptop Hard drive booted easier and still remained low power

  24. Progress Flow Chart Green = Developed Red = Partially Developed

  25. Progress Update

  26. Questions and Answers

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