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Advanced Remote Monitoring and Operated Recon Device. Andrew Lichenstein Kevin Jadunandan Thomas Kehr. Motivation. Dragon Runner surveillance robot Extremely Durable Fast and lightweight platform ≈$32,000 per unit Objectives: Fraction of the Price(< $2000) Withstand drop of two stories

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advanced remote monitoring and operated recon device

Advanced Remote Monitoring and Operated Recon Device

Andrew Lichenstein

Kevin Jadunandan

Thomas Kehr

motivation
Motivation
  • Dragon Runner surveillance robot
    • Extremely Durable
    • Fast and lightweight platform
    • ≈$32,000 per unit
  • Objectives:
    • Fraction of the Price(< $2000)
    • Withstand drop of two stories
    • Maneuverability on all terrains
    • Wireless Control/Video
      • iPhone Control
specifications
Specifications

Body

Locomotion

Battery Life

Operating Voltage

Communication

chassis
Chassis
  • Raw Material Selection
  • Suspension
  • Body Design
  • Polyurea
  • Component Mounting
  • Camera
chassis raw material selection
Chassis: Raw Material Selection
  • Aluminum
    • Low-cost
    • Light weight
    • High cost of manipulation
  • Fiberglass Composite
    • Extremely low cost
    • Easily manipulated
    • High Strength
    • Experienced with fabrication
    • Permeable to Radio frequencies
  • Carbon Fiber
    • High cost
    • High Strength
    • Complex manipulation
chassis suspension
Chassis: Suspension
  • Aluminum Frame – 1/8” Aluminum Sheet
    • Provide mounting for components
    • No metal on metal; rubber washers
  • Spring Suspension System
    • 32 Springs
    • 8 Motor Clamps
chassis body design
Chassis: Body Design
  • Fiberglass-Composite Construction
  • Clam-Shell Design
  • Plug and Mold Fabrication
  • Accommodate Peripherals

20”

7”

17”

chassis body design1
Chassis: Body Design
  • Ventilation and Cooling
    • 4 12V Micro CPU Fans
    • 2 Intake; 2 Outtake
  • Component Mounting
    • Spring Suspension
    • No Metal Contact
chassis polyurea
Chassis: Polyurea
  • Truck Bed Liner
    • Rhino Liner, etc.
  • Extreme Durability
    • 41 MPa Tensile Strength
  • Quick Reaction Time
    • Build up Multiple Layers
  • Explosive and Ballistic resistance
drive train
Drive Train
  • Geared Motor
  • Wheels and Locomotion
drive train motor selection
Drive Train: Motor Selection
  • IG42 Geared Motor
    • 24:1 Gear Ratio
    • 24V DC
    • 252 rpm
    • 2300mA
    • 10 kgf-cm Torque

1.75”

4.8”

drive train wheels and locomotion
Drive Train: Wheels and Locomotion
  • Wheels
    • Wheel + Tire
    • 10” Diameter
    • Custom Mounting Hardware
  • Wheel Speed
    • Speed (fpm) = (Diameter of wheel (in) x π x rpm of motor) /12
    • = (10” x π x 252) /12 = 659.7 ft/m
    • = 7.59 mph
power system
Power System
  • Batteries
  • Control Battery
  • Drive Battery
power system batteries
Power System: Batteries
  • NiMH Rechargeable Packs
    • 24V 4500 mAHr
      • Drive Battery
    • 12V 4000 mAHr
      • Control Battery

10" x 2" x 2"

5" x 2" x 2"

power system control battery
Power System: Control Battery

Capacity = 4000mAHr

Current Drain of system = 795mA

Estimated battery life ≈ 5 hrs

Regulators of 3.3V, 5V, and 9V are used to power the main logic and peripheral devices of ARMORD

power system drive battery
Power System: Drive Battery

Battery Capacity= 4.5 A Hr

Current Draw= 2300mA x 4 = 9.2 A

Battery Life = 29.3 minutes

video system camera
Video System: Camera
  • 380-lines resolution
  • 150-foot range (no obstacles)
  • 2.4 GHz output frequency
  • Built-in microphone
internal hardware
Internal Hardware
  • MCU
  • GPS
  • Communication
  • Motor Controller
internal hardware mcu
Internal Hardware: MCU
  • Features our group looked for in MCU:
    • CPU Speed >= 4MIPS (10 MIPS)
    • Program Memory >= 16KB (32KB)
    • Internal Oscillator >= 4MHz (16MHz)
    • IO Pins >= 15 (30)
    • ADC >= 2 (15)
    • Program in C/C++ using MPLAB IDE
    • Temperature Range (-40 to 125 C)
    • PDIP
  • *PIC18F4520 Max Spec’s in ()

PIC18F4520

internal hardware mcu1
Internal Hardware: MCU
  • Communication is the most essential part of our robot, we will need to be sending and receiving data from our Gateway to be able to control our robot. We will be using the USART pins on the MCU, which allows us to send serial data.
  • Our MCU will need to be data parsing when it receives GPS updates which come in the form of a string of data. We will be emulating the hardware by using software USART, which is also know as bit-banging.
  • Motor Control will be done by having two variables set , one for the left motors and one for the right motors. We will be sending a value of 0 to 255, which will tell which motor to move and how which direction it should spin the motor. This also will be using software USART.
  • Battery life testing will be done using AD Converters, so we will know when the battery is running low.
communication options
Communication: Options
  • XBee vs. XBee Pro vs. Bluetooth Class 1

The Bluetooth was a bit to expensive and the regular XBee distance was a bit to small. This is why we chose the XBee Pro which was a good combination of both data rate and distance. We really only need 300 to 400 ft max for our application.

internal hardware gps
Internal Hardware: GPS
  • We originally were looking at the Copernicus GPS Module that was sold on Sparkfun, but after talking with other sources they pointed out to me the Falcom FSA03 unit. Here are the details of the unit:

One of the best features of this chips is that it has a Sarantel helical antenna which lets you orient this GPS any way you would like , so you don’t have to make it point towards the sky.

communication gps purpose
Communication: GPS Purpose
  • The GPS’s main purpose was to be sending latitude and longitude to our microcontroller so that we could use this data with our iPhone application. The GPS sends NMEA(National Marine Electronics Association) data to our MCU; here is an example of what it looks like:
  • $GPGLL,4916.45,N,12311.12,W,225444,A,*1D
  • As you can see the data that is sent is not an easy to read format so our MCU will parse the data needed and send to a variable that will be sent out via XBee.

Geographic Lat & Lon

123o11.12

Data Active

Time(UTC)

Checksum

49o16.45

motor controller selection
Motor Controller: Selection
  • Originally we were thinking of creating our own motor controller using PNP BJTs but due to the fact we wanted stability and more features we decided to buy the Sabertooth 10A Dual Motor Controllers. One of the key features that we really liked as a group was that it is a regenerative motor driver, so when the robot stops or reverses it recharges the batteries with the wasted energy. It also has over current and thermal protection which means we won’t have to worry about damaging the motor controllers.
motor controller setup
Motor Controller: Setup
  • In our setup we will be using two motor controllers in parallel. So we will be using one pin on our MCU a Tx line that uses software USART that connects to the S1 ports on the motor controllers.
  • The Tx line on the MCU will transmit to both of the motor controllers S1 lines at the same time. We will be sending values of 0 to 255 to the motor controllers .
  • A value of 1 to 127 controls the left motors and a value of 128 to 255 controls the right motors
mcu software diagram
MCU Software Diagram

RECEIVE THREAD

SEND THREAD

DATA STRUCTURES

-Left Motor

-Right Motor

-GPSLat

-GPSLon

-BatteryLife

board design prototype
Board Design Prototype
  • Created in EagleCAD
  • Jumpers make it easy to connect peripherals
custom pcb
Custom PCB
  • Using a flatbed plotter we make our own single sided PCBs for testing purposes. We can create 15 PCBs for less than $25.
gateway iphone interface
Gateway / iPhone Interface
  • Software applications
    • iPhone Application
    • Gateway Application
software
Software
  • iPhone Application
    • Primary controlling device
    • Touch based interface
    • Displays map with location of user and ARMORD
software1
Software
  • iPhone Application
    • Written in Objective C
      • Apple’s object oriented version of C
      • Runs all C code natively
    • Xcode IDE and Interface Builder
      • Provides drag and drop UI design
software iphone1
Software: iPhone
  • Distance Calculation
    • Uses latitude and longitude
    • Distance in miles =

3963.0 * arccos[sin(lat1) *  sin(lat2) +

cos(lat1) * cos(lat2) * cos(lon2 - lon1)]

software gateway application
Software: Gateway Application
  • Purpose
    • Wireless bridge between the iPhone and the ARMORD
    • Necessary because iPhone cannot easily connect to the XBee module
    • Communication
      • Wi-Fi – iPhone
      • XBee – Robot
software gateway application1
Software: Gateway Application
  • Requirements
    • Wi-Fi connection
    • COM port access
  • Options
    • C#
    • Java
  • Decision – Java
    • More robust XBee API and support
    • Cross platform development
software2
Software
  • Packet Structure
    • From iPhone To ARMORD
    • From ARMORD To iPhone
video transmission original design
Video Transmission – Original Design
  • Video is received by video capture card
  • Computer broadcasts live stream over Wi-Fi
  • iPhone plays live stream
video transmission original design1
Video Transmission – Original Design
  • Problems
    • For live video, iPhone only plays H264 video, with AAC audio, encapsulated in an MPEG2-TS
    • Capture card software could not output proper video format
    • 10 second video lag from camera to a computer watching the stream
video transmission new design
Video Transmission – New Design
  • Solution – External LCD Display
    • Allows direct video feed from camera to display
    • No processing on a computer to reduce video delay
    • iPhone can now display more information on the screen
      • Maps
      • GPS locations
      • Distance
      • Battery Life
controller
Controller
  • Components
    • 7” Standalone Monitor
    • Ruggedized Grip and Frame
    • AV Receiver
    • 9.6V NiMH Battery
  • Video and Control up to 100 feet
  • Components attached to controller via aluminum bracket
  • Power supplied to AV Receiver and Monitor through 9.6V NiMH battery
  • Swivel mount to account for inversing camera orientation

AV

Receiver

administrative information
Administrative Information
  • Project Status
  • Budget
  • Timeline
  • Additional Time
additional time
Additional Time..
  • Hardware Add-ons:
    • Accelerometer to determine speed and orientation
    • IR Sensors for Motion Detecting
    • Night Vision Camera
  • Software Add-ons:
    • Zero Configuration using Bonjour Protocol
    • UDP Broadcast instead of TCP Connection
    • Eliminate Gateway