1 / 27

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.

lenarda
Download Presentation

Mars Rover

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  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

More Related