tim southerton brian grosso matthew morris lalit tanwar kevin meehan alex reid n.
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Tim Southerton Brian Grosso Matthew Morris Lalit Tanwar Kevin Meehan Alex Reid. RC Camera Car Systems Design Review P14226 9/12/13. Adviser: Dr. Becker-Gomez. Agenda Items. Background Information Problem Definition Stakeholders RIT Customer Update Customer Requirements

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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 CarSystems Design ReviewP142269/12/13

Adviser: Dr. Becker-Gomez

RC Camera Car SDR

agenda items
Agenda Items
  • Background Information
    • Problem Definition
    • Stakeholders
    • RIT Customer Update
    • Customer Requirements
  • Systems Analysis
    • System / Hardware / Software Functional Decomp
    • Engineering Requirements
    • System / Software Architecture
    • Benchmarking
      • Chassis
      • Camera
      • Microcontroller
      • Wireless Comm.
    • Morph Chart / Pugh Matrix
    • Concept Selection
      • Course
      • Console
      • Chassis
      • Microcontroller Mount
    • System Prototyping
      • Chassis Prototyping
      • Adapter Plate Schematic
      • Weight Analysis
      • Differential Drive Simulink
      • Car Power Budget
      • Circuit Diagrams
    • Risk Assessment
    • Test Plan
    • Moving Forward

RC Camera Car SDR

background information
Background Information

Overview

RC Camera Car SDR

problem definition
Problem Definition
  • 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 Control
    • 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

RC Camera Car SDR

stakeholders
Stakeholders
  • Customer: Dr. Juan Cockburn
    • Controls Professor, RIT, Computer Engineering (CE)
  • Sponsors:
    • RIT CE Department, Multidisciplinary Senior Design (MSD)
    • Freescale Semiconductor
  • Event Attendees:
    • Imagine RIT
    • Freescale Cup
    • Various Campus Symposiums and Workshops
  • MSD Team
  • Future RIT Researchers
  • Future RIT MSD Teams / Prospective Students

RC Camera Car SDR

rit customer update
RIT Customer Update
  • System customer is looking for long term was done by a student at UC Irvine
  • Balanced an RC car using controls algorithm
  • Major Issues:
    • HPI Racing Car ($)
      • Monster Truck Design
    • Titanium Geared Servo ($)
      • Precise, High Torque Steering
    • 22 State Variable Linearized System Model
      • Advising from 4 MIT Professors
  • Power to both wheels on the ground
  • High CG
  • Large, Soft Tires

Two-Wheel Self-Balancing of a Four-Wheeled Vehicle

David Arndt et al., IEEE Control Systems Magazine, March 2011

Balancing RC Car on Two Wheels

RC Camera Car SDR

customer requirements
Customer Requirements

RC Camera Car SDR

systems analysis
Systems Analysis

To Current State

RC Camera Car SDR

system functional decomp
System Functional Decomp

RC Camera Car SDR

engineering requirements
Engineering Requirements
  • Revised metrics mapping to functional decomposition on all levels
  • Combined with constraints to make more meaningful function connections
  • Revised metrics with new benchmarking data
  • Mapped new metrics to needs with HOQ
  • Added tests to measure metrics for test plan

Detailed Engineering Requirements

RC Camera Car SDR

system architecture
System Architecture

RC Camera Car SDR

software architecture
Software Architecture

RC Camera Car SDR

benchmarking chassis
Benchmarking – Chassis
  • Few affordable chassis options available
  • Most RC cars have open differential drives
  • Custom chassis would require significant time
  • Freescale chassis is donated but needs many modifications

RC Camera Car SDR

benchmarking camera
Benchmarking – Camera

RC Camera Car SDR

benchmarking microcontrollers
Benchmarking – Microcontrollers

http://upload.wikimedia.org/wikipedia/commons/3/3d/RaspberryPi.jpg

http://www.mouser.com/images/microsites/Freescale%20Black%20Board.jpg

http://www.liquidware.com/system/0000/3648/Arduino_Uno_Angle.jpg

http://circuitco.com/support/images/2/23/REV_A5A.jpg

RC Camera Car SDR

morph chart
Morph Chart

Concept Selection

RC Camera Car SDR

pugh matrix
Pugh Matrix
  • First Pugh matrix low datum
    • Inspiration setup
  • High end option scores best but mid-range RC close
  • Custom Chassis may not be worth the extra cost/effort
  • Budget / time constraint issues
  • Current Chassis Good

RC Camera Car SDR

concept selection course
Concept Selection – Course
  • Tape Lines
  • Cones
  • Banked Course
  • Dog Fence

RC Camera Car SDR

system prototyping
System Prototyping
  • Predefined sponsor and provided chassis
  • Nature of RC car development lends itself to rapid prototyping and modification
      • Early prototyping conducted for further system integration testing
      • Documentation of modifications along the way to develop iterated platform design
    • Familiarization with platform and diverse microcontroller options crucial to successful project

RC Camera Car SDR

chassis prototyping
Chassis Prototyping

Original Model

Modified Version

Movement!

RC Camera Car SDR

adapter plate schematic
Adapter Plate Schematic
  • Adapter plate generated in cap to provide basis for future modifications
  • Design is simple and can be easily made using CNC for mass production
  • More CAD parts to be made for 3D printing

RC Camera Car SDR

weight analysis
Weight Analysis
  • Projected chassis weight slightly under last years RIT Freescale Cup car
  • Bigger wheels may help our car get over obstacles
  • Possibly looking for stronger motors for the drivetrain

RC Camera Car SDR

differential drive simulink
Differential Drive Simulink
  • Preliminary system model created with PI control algorithm
  • Modifiable once parameters established

RC Camera Car SDR

car power budget
Car Power Budget
  • Car power budget currently predicts high battery capacity requirement for 1 hr runtime
  • Initial testing suggests that battery weight might be an issue
  • Possible change to specs after further testing

RC Camera Car SDR

circuit diagrams
Circuit Diagrams

Console

RC Car

RC Camera Car SDR

total project budget
Total Project Budget

RC Camera Car SDR

risk assessment
Risk Assessment

Current Risk Assessment

  • Financial Budget – Overshooting the project budget will cause the project to be incomplete.
    • Probable cause for this would be:
      • Bad benchmarking
      • Project plans not detailed (i.e. delays in shipping)
    • Budget will restrict the following:
      • Prototyping (Little to none depending on components chosen)
      • Multiple backup parts for breakdown
      • Lack of functionality

RC Camera Car SDR

risk assessment cont
Risk Assessment (cont.)
  • Runtime Breakdown/Failure – Breakdown of mechanical and electrical components during testing and runtime
    • Probable cause for this would be:
      • Bad shielding from elements/ poor electrical shielding and connections
      • Extreme stress tests/ poor mechanical integrity
      • Bad simulation runs/ poor software analysis
    • This will result in:
      • Dysfunctional product
      • Increased stress on already limited budget
      • More time spent on electrical and mechanical debugging/fixing

RC Camera Car SDR

test plan
Test Plan
  • Test Chassis and Console
    • Verify Physical Component Limitations
  • Test Wireless Communications
    • Functioning Distance
  • Record Data at Imagine RIT
    • User Feedback – Likert Scale
    • Statistical Driving Data
  • Finalized Project Deliverables
    • Total Cost, Event Entries, Component Specs, Included System Functionality

RC Camera Car SDR

project schedule
Project Schedule
  • Next Three Weeks
    • Establish design for control station
    • Evaluate options for camera, microcontroller, and other electronics
    • Test chassis and determine spatial layout
    • Make choices based on price and power budgets
    • Continuous benchmarking of new technologies and ideas

RC Camera Car SDR

moving forward
Moving Forward
  • Budget constraints need to be refined to go forward with component selection
  • More knowledge of control systems is needed to refine the Simulink model
  • Simulink / student interfacing of controls program needs to be better defined for microcontroller selection
  • Movement controller needs to be improved for future testing

RC Camera Car SDR

additional information
Additional Information
  • House of Quality
  • Test Plan

RC Camera Car SDR

programmable lap
Programmable Lap
  • Explored the option of using wheel revs and steering input to map a course for virtual mapping on a GUI
  • Does not account for slip in this version
  • Something to show driving paths using platform sensors

RC Camera Car SDR