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Earl Grey and The Boston Tea Party

Earl Grey and The Boston Tea Party. Present The Entourage. Team Members. Casey Gold Ellen Prommersberger Nathan Winder Steven Anderson Tom Monikowski. Ellen. Purpose. Ease tedium of stop-and-go traffic Improve safety of rush hour driving. Ellen. Objectives.

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Earl Grey and The Boston Tea Party

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  1. Earl Greyand The Boston Tea Party Present The Entourage

  2. Team Members • Casey Gold • Ellen Prommersberger • Nathan Winder • Steven Anderson • Tom Monikowski Ellen

  3. Purpose • Ease tedium of stop-and-go traffic • Improve safety of rush hour driving Ellen

  4. Objectives • Use sensors to determine position of car relative to other vehicles • Control acceleration and breaking based on distance away from leading vehicle • Control steering to follow lead car • Demonstrate concept on RC vehicle Ellen

  5. Concept Ellen

  6. Turning the Car Ellen

  7. System Overview Casey

  8. System Architecture Casey

  9. Processor and Memory Casey

  10. FPGA Casey

  11. Memory Mapping • Implement on FPGA • Code using Verilog Casey

  12. Software • Accept values from sensors • Interpret as distances or hits/misses • Conditionally determine the course of action • Speed and turning • Handle user warnings Tom

  13. SoftwareSpeedAdjustment Two major components to speed adjustments: • Relative velocities • Ideal distance Tom

  14. Software Speed Adjustment Tom

  15. Software Speed Adjustment Tom

  16. Software Speed Adjustment Tom

  17. Software Speed Adjustment Tom

  18. Software Speed Adjustment Tom

  19. Software Speed Adjustment Tom

  20. Software Speed Adjustment Tom

  21. Software Speed Adjustment Tom

  22. Software Speed Adjustment Tom

  23. Sensor Changes INFRARED • +/- 2” beamwidth at 0” - 60” • Single pin output (direct connect to A/D ports in HC11) • 50 ms period • $12 each ULTRASONIC • +/- 5º beamwidth(actually +/- 5.25” at 60”) • 13 pin output(requires about 7 FPGAs) • 1 cycle/second • $20 each Ellen

  24. Sensors • Infrared analog output • Sharp GP2Y0A02YK • Range: 20 cm – 150 cm • Beam width: +/- 50mm Ellen

  25. Sensor Data Data Sheet Reflectivity Curve Experimental Data Reflectivity Curve Ellen

  26. RC Car Interface • Speed Control • Maintain following distance relative to speed • Constantly monitor speed of vehicle • Steering • Incremental adjustment system • Digital servos • Manual Control • Disengages with driver input changes • ENGAGE/DISENGAGE button • Audio/Visual User Warnings Nathan

  27. Digital-Analog Conversion translates digital duty cycle to analog voltage DC Motor: Linear Relationship between Voltage and Speed Speed Control Functionality Nathan

  28. Speed Control Interface Nathan

  29. Speed Control Hardware Design Nathan

  30. Steering Interface • Digital interface with I/O port on FPGA • Smooth servo transition from 0º - 90º • 0º corresponds to 6% duty cycle • 90º corresponds to 9.5% duty cycle Nathan

  31. Manual Control Interface • RC controller operates at 75.75MHz • RC receiver outputs digital signals • Signals “RC SpeedControl” and “RC SignalControl” sent to FPGA • Change in signals indicates Manual Input/Override Nathan

  32. User Warning Output • Warnings output digital signals from FPGA • Signal “IntWarning” to warn of potential problems • Slower frequency buzzing and flashing yellow LEDs • Signal “FinalWarning” to alert system disengagement • Faster frequency buzzing and flashing red LEDs Nathan

  33. Power System Tether (120VAC – 15VDC) • 5 V Regulator • Sensors • Processor • Memory • FPGA • DAC • RC receiver • Servos • 3.3 V Regulator • EPROM • 15 VDC • DC motor • Current gain OpAmps • DAC Steve

  34. Schedule Steve

  35. Milestone One Full prototype functionality Milestone Two Implement on real Escalade Deliverables Expo • Full Distribution to 10,000 Dealers Nationwide • ROI: 100 Million Dollars Steve

  36. Milestone Two Final Bug-infested Software Finalized Hardware mounted in vehicle Actual Deliverables Milestone One • Peripheral Hardware Tested and Built • Servos Mounted • Processor, Memory and FPGA fully functioning • Running preliminary Software Steve

  37. Division of Labor • Casey – FPGA/Processor Setup, Programming • Ellen – Controls, Sensors, Quality Control • Nathan – Control Interface, Hardware Design, Construction • Steven – Power, Construction • Tom – Math, Sensors, Software Design Steve

  38. RC Escalades (2) $70 ea Optoisolators 6N139 (6) $0.25 ea Infrared Sensors Sharp GP2Y0A02YK(7) $14.50 ea DAC MAX5312 $10 (adaptor socket) Buzzers/bicolored LEDs $1 ea Prototyping materials $25 PCBs 2-layer Board $33 per revision CPU 68HC11E0 FPGA XCS10 RAM CY62256 Flash ROM AT29C256 Bus drivers 74HC245 (2) Latch 74HC373 Assorted logic chips 8MHz clock EPROM XC18V256 OpAmps OPA548 (3) RC receiver and servos Parts and Prices Steve

  39. Extra sensors Programming for highway driving (higher speeds) More accurate sensing for nonstandard vehicles NOS Wet or dry shot? Five 10” LCD screens Streetglow Blue Blinking? Possible Additions Steve

  40. Wrap Up Haiku Escalade Rollin Entourage Wheels are Spinnin Bass that’s a Bumpin Steve

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