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Tim Southerton Brian Grosso Matthew Morris Lalit Tanwar Kevin Meehan Alex Reid. RC Camera Car Detailed Design Review P14226 12/10/13. Advisor: Dr. Becker-Gomez. Agenda Items. Background Problem Definition Stakeholders Review Major Purchase Camera and Video Transmission Total Budget

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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 CarDetailed Design ReviewP1422612/10/13

Advisor: Dr. Becker-Gomez

RC Camera Car DDR

agenda items
Agenda Items
  • Background
    • Problem Definition
    • Stakeholders Review
  • Major Purchase
    • Camera and Video Transmission
    • Total Budget
    • Power Budget
    • Weight Analysis
    • Component Layout
  • Component Updates
    • Performance Data
    • Differential Drive Speed
    • Engineering Req.’s Review
    • Dashboard Indicators
    • Console Construction
    • Car Bumper Rev 2
    • MBED Programming
    • Simulink Interfacing
    • Steering Wheel Modifications
    • Dedicated Computer
    • Car Electronics Plan
    • Schematics
    • Console Flow Chart
    • Course Components
    • Lab Topics
  • System Functional Decomp.
  • Risk Management
  • MSD II Planning

RC Camera Car DDR

problem definition review
Problem Definition Review
  • 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 Controller
    • 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 review
Stakeholders Review
  • Customer: Dr. Juan Cockburn
    • Controls Professor, RIT, Computer Engineering (CE)
  • Sponsors:
    • RIT CE Department, Multidisciplinary Senior Design (MSD)
    • Freescale Semiconductor
    • RIT FMS (Chris Furnare and Jim Shuffield)
    • RIT ME Department (Bill Finch)
  • Event Attendees:
    • Imagine RIT, Freescale Cup 2014
    • Various Campus Symposiums and Workshops
  • MSD Team
  • Future RIT MSD Teams / Prospective Students

RC Camera Car DDR

camera and video transmission
Camera and Video Transmission
  • Ready Made RC LLC – Ohio – US
  • Custom 5.8 FPV Starter Package: $232.70
    • RMRC-420XV NTSC CCD Camera
    • ImmersionRC 600mW 5.8GHz Video Transmitter
    • Uno5800 5.8GHz Receiver
    • Standard Whip Antennas
    • 2 x RMRC 1100mAh Batteries
  • LiPo Charger and Voltage Level Indicator
    • Amazon: $37.26

RC Camera Car DDR

total budget
Total Budget

Total Budget 12-6-13

  • Min. Projected Remaining Expenses $141.40
    • Course Materials, Assorted Extras
    • On Target: $505.25 Total to be Spent
    • Long Lead Time Items Ordered at Minimum Cost
  • Approximately $363.85 Spent Thus Far
  • Approximately $1328.25 in Total Value of Parts
    • Student Donated ~$170
    • Freescale Donation ~$600
    • Caster City Donation ~$60
    • FMS / Free Items ~$80
    • ME Dept. Donation - Free Computer, Table Surfaces ~$50

RC Camera Car DDR

power budget
Power Budget
  • Camera runtime estimated at ~4 hrs
  • 2 LiPo Batteries coming for camera which can be one off one on charging
  • Far exceeds specs
  • Car runtime estimated at ~4 hrs
  • Additional NiMH battery available from CE Department
  • Far exceeds specs

RC Camera Car DDR

weight analysis
Weight Analysis

DDR Weight Analysis

  • Components weighed and values for those not purchased tabulated
    • <10% More than 2013 RIT Freescale Cup Car
    • 20% Less than when car tested for performance (batteries weight will be less on final product)
  • Car will be able to move all the necessary components without issue

RC Camera Car DDR

component layout
Component Layout
  • Scale CAD model made of car electronics layout to verify that everything will fit
  • Significant room for expandability

RC Camera Car DDR

performance data
Performance Data

Performance Testing

  • Car tested with RC controls + Arduino taking encoder data and transmitting back to laptop through Xbee’s
  • Car run with two RC batteries (high weight) and car easily made it over Freescale bump
  • Gathered performance data that compared favorably with metrics
  • Information gained on bumper functionality, drivability, and clearance

RC Camera Car DDR

performance data1
Performance Data

RC Camera Car DDR

differential drive speed
Differential Drive Speed
  • Accelerometers unrealistic for linear speed measurement
  • Linear speed of car to be determined by averaging left and right wheel speeds
    • Used as reference for feedback loop
    • Easily available data for Simulink
  • Possible integration into console display

RC Camera Car DDR

engineering req s review
Engineering Req.’s Review

Detailed Engineering Requirements

  • Preliminary Testing Results:
    • 0 to Max Speed 2.8s
    • Max Speed to 0 2.4s
    • Max Speed 10ft/s
    • Max Range 141 ft
  • Addressed Items:
    • Dashboard Indicators
    • Dedicated Computer for Project

RC Camera Car DDR

dashboard indicators
Dashboard Indicators
  • Freescale automotive division MC9S12HY64 instrument cluster demo board donated for project
  • Stand built for protection and viewing

Movement!

RC Camera Car DDR

console construction
Console Construction
  • Console updated with lower mounting height difference between chair and table base
  • Changed to moving table toward user for safety
  • Found better desk and base surface

RC Camera Car DDR

console construction1
Console Construction
  • Temporarily mounting casters and screen
  • New casters to be expected near start of MSD II
  • Possible seat belt for authenticity, time depending
  • Possible seat plate with team information

RC Camera Car DDR

car bumper rev 2
Car Bumper Rev 2
  • New bumper design made with driving feedback (protection)
  • Polyethylene foam cut using hot wire foam cutter

RC Camera Car DDR

mbed programming
MBED Programming

Freedom Board, Xbee, Accelerometer, MATLAB Testing

  • MBED functionality with Xbee’s and MATLAB for KL25Z Freedom Board confirmed

RC Camera Car DDR

simulink interfacing
Simulink Interfacing
  • Serial information can be directly imported / exported from Simulink model
  • This will be integrated with Brian’s model to output motor speed signal
  • Simple interface for students to program

http://www.mathworks.com/help/releases/R2013b/instrument/srcblkparam.gif

RC Camera Car DDR

steering wheel modifications
Steering Wheel Modifications
  • Access hatch added to allow for quicker electrical work and internal component mounting
  • KL25Z board mounted inside and wires connected to board outputs for interfacing with board

RC Camera Car DDR

dedicated computer
Dedicated Computer
  • Change of approach on console side to controller and Xbee’s communicating directly with computer
  • Simulink running controls application on computer with serial in/out communication
  • Need for dedicated computer for project to reduce program version issues and increase robustness of final deliverable

RC Camera Car DDR

car electronics plan
Car Electronics Plan
  • Using TLC Motor Shield on KL25Z
  • Replacing pin headers on motor shield with through pin headers to access unused pins
  • Attaching Xbee and encoder circuits using a perfboard shield on top of motor shield
  • Use existing switches, potentiometers, LED’s, and servo outputs as necessary

RC Camera Car DDR

schematic h bridge
Schematic – H-Bridge

RC Camera Car DDR

schematic h bridge1
Schematic – H-Bridge

RC Camera Car DDR

schematic accessories
Schematic – Accessories

RC Camera Car DDR

console flow chart
Console Flow Chart

RC Camera Car DDR

course components
Course Components
  • Freescale Cup Tarp
    • 15’4” x 20’4”
    • Stored in MSD Area
    • Used on Floor with Tables Moved
  • Course Edging and Obstacles
    • TBD Budget Depending
    • ~$60 Available
    • Fix Freescale Bump
    • Storage Limited

RC Camera Car DDR

lab topics
Lab Topics
  • 1) Physics Theory - Brian's Differential Drive Model
    • Assumptions and Turning Radius / Speed Formulas
  • 2) Controls Application
    • Wheel Speed Averaging and PI Control
  • 3) Console Microcontroller Information
    • Microcontroller / Electronics
    • Console Controls and Outputs
  • 4) Chassis Construction and Information
    • Car Steering Servo and Drive Motors
    • Stats - Wheelbase, Track, Weight, Time Constants
    • Battery and Power Management
    • Assembly Instructions

RC Camera Car DDR

lab topics1
Lab Topics
  • 5) Car Microcontroller Information
    • Microcontroller / Electronics
    • Car Inputs and Outputs
  • 6) Wireless Communication Information
    • Xbee Distance Stats and Info
    • Camera Distance Stats and Info
    • X-CTU, Updating, and Bricking Issues
    • Using Xbee's with MBED
  • 7) Simulink Interfacing
    • Readings Data into Simulink
    • Outputting Data from Simulink
  • 8) Testing
    • Uploading Code
    • Implementing Model Changes
    • Verifying Results
    • Sample Code and Demo
  • 9) FAQs and Troubleshooting

RC Camera Car DDR

system functional decomp
System Functional Decomp.

Successfully Completed

Addressed with POC

MSD II

RC Camera Car DDR

risk management
Risk Management

Risk Management

RC Camera Car DDR

test plan
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 DDR

msd ii to do short list
MSD II To Do Short List
  • Wheel Speed Sampling Solution and Testing
  • Optical Gate Speed Testing
  • KL25Z Xbee / Motor Controller Integration
  • Controls Application Software Integration
  • Table Surfacing and Component Mounting
  • Course Design
  • Component Mounts
  • Aesthetics

RC Camera Car DDR

msd ii planning
MSD II Planning

MSD II Planning

  • 36 items identified for MSD II
  • Week 5 Demo
    • Working Car using Console Drive Controls
  • Week 8 Demo
    • Working Controls Applications
  • Week 12 Demo
    • Working Course and Car
  • Still plenty of work to be done

RC Camera Car DDR

additional slides
Additional Slides

P14226 EDGE Site

RC Camera Car DDR