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ECE 477 DESIGN REVIEW TEAM 08 SPRING 2010
Greg Beau SerajAnanya
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Outline Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation PCB layout Software design/development status Project completion timeline Questions / discussion
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Project Overview
Autonomous robot Simulates behavior of dog fetching Tracks a thrown object, picks it up, and
returns it to thrower Able to avoid obstacles
Computer vision Able to recognize an object using a
camera Follows object using computer vision
algorithms (SIFT)
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Project-Specific Success Criteria
An ability to identify a target object within a captured image
An ability to control vehicle direction and speed
An ability to recognize nearby objects in anticipation of avoiding said objects
An ability to pick up an object autonomously
An ability to record a GPS location in order to verify that DOG has returned to this location
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Block Diagram
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Component Selection Rationale Microcontroller
Freescale MC9S12A 8-channel PWM Dual SCI Familiar
architecture
Chassis Self-designed and
built Cheapest Greatest flexibility
for designing neck/arm
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Component Selection Rationale Vision processor
Intel Atom board Available for free Ability to use high-
level languages H-bridges
VNH3SP30 30A capable PWM drive
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Component Selection Rationale Motors
Planetary gear motor
High torque Stall torque 152 oz-in (x4)
Ample speed No load 1023 RPM
GPS PMB-248 Accuracy of ±2m 1 second refresh rate
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Component Selection Rationale Sonar Sensors
LV-MaxSonar-EZ3 6” to 254” range
with 1” resolution 3 ¼” diameter
dowel
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Packaging Design
Chassis House electrical
components Neck
Extends to reach out and grab object
Head Top mounted camera
for maximum field of view
Tail Aesthetics (possible
GPS mounting position)
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Packaging Design
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Packaging Design
CameraGPS (tail?)Servos (TBA)Ultrasonic
SensorsMotorsBatteries
Atom
Head
NeckBody
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Schematic/Theory of Operation
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Schematic/Theory of Operation LM2675
Input: 14.4V Output: 5.0V Drives: Micro,
Servos, Sensors, GPS, Level Translator
AP1509 Input: 14.4V Output: 12.0V
(2.0A) Drives: Atom board
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Schematic- H-Bridge
PWM Pin Enable
and direction
pins
µC
Test Points
8.4V @ 30A GNDBattery
VNH3SP30 Power Input: 8.4V
@ 30 A Logic Input: PWM,
Direction and Enabling I/O @ 5.0V
Drives: Motor(x2)
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Schematic-Level Translators MAX3232
Input: TTL Rx/Tx
Output: RS-232 Rx/Tx
Allows for serial communication
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Schematic - Microcontroller
H-Bridges
MC9S12A 8-Ch PWM
Motor Drivers (x2) Servos (x6)
8-Ch ATD Sonar Sensors
(x3) 24-Ch I/O
Motor Drivers (x8) LEDs (x4) Push Buttons (x3)
2-Ch Serial Atom Board (x1) GPS (x1)
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Schematic-Oscillator and BDM 6 MHz quartz
crystal Pierce oscillator
BDM connector Used for debugging Reset BKGND (signal) Power / Ground
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PCB Layout
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PCB Layout – H Bridge
Wide traces/ multiple traces for power rails
Drill holes for soldering
Heat sink drill holes
Output headers connected through thick traces to the motor
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PCB Layout – Oscillator
Very close to microcontroller
No traces allowed underneath
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PCB Considerations-1
High power circuitry, digital and analog subsystems are separated and placed in different sections
Bypass capacitors placed close to the microcontroller
Peripherals and connectors are oriented on the edges for easy accessibility
High current part Digital Part
Bypass Capacitors
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PCB Considerations-2
One main Power and Ground system
Bulk capacitors between the power terminals
Ground and power traces run parallel
8.4v power supply runs on 150 mils power and ground traces
14.4v power supply runs on 22 mils power and ground traces
Bulk Capacitors
Power Ground
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Software Design/Development Status
Complete Tested functionality of GPS, Servos, Sonar,
Atom, Motors, Micro Tested Vision tracking and the use of SIFT Prototype interfaces with Servos, Sonar, Micro Layout of all chassis parts
Incomplete Machining of all chassis parts Chassis assembly Software development Integration
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Project Completion Timeline
Task Week 9
Week 10
Week 11
Week 12
Week 13
Week 14
Week 15
Week 16
Final PCB
Assemble chassis
Mount components
Write vision software
Write drive software
Write sonar software
Write GPS software
Write Servo control software
Integration
Algorithm expansion
System testing
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QUESTIONS/DISCUSSION
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Appendix A: System Flow Chart
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Appendix B: Software Gantt Chart
Number Task Resource Start End Duration%
Complete
2/15 2/22 3/1 3/8 3/15 3/22 3/29 4/5 4/12 4/19 4/26
2/15 2/16 2/17 2/18 2/19 2/20 2/21 2/22 2/23 2/24 2/25 2/26 2/27 2/28 3/1 3/2 3/3 3/4 3/5 3/6 3/7 3/8 3/9 3/10 3/11 3/12 3/13 3/14 3/15 3/16 3/17 3/18 3/19 3/20 3/21 3/22 3/23 3/24 3/25 3/26 3/27 3/28 3/29 3/30 3/31 4/1 4/2 4/3 4/4 4/5 4/6 4/7 4/8 4/9 4/10 4/11 4/12 4/13 4/14 4/15 4/16 4/17 4/18 4/19 4/20 4/21 4/22 4/23 4/24 4/25 4/26 4/27 4/28 4/29 4/30 5/1 5/2
Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun Mon Tues Wed Thurs Fri Sat Sun
1 Vision 2/15/2010 4/21/2010 66
1.1 Test 2/15/2010 2/16/2010 2
1.1.1 Capture images 2/15/2010 2/15/2010 1 100.0
1.1.2 Extract SIFT features 2/15/2010 2/16/2010 2 100.0
1.2 Development 4/10/2010 4/21/2010 12
1.2.1 Stream video 4/10/2010 4/11/2010 2
1.2.2 Capture and extract target image 4/12/2010 4/13/2010 2
1.2.3 SIFT target image 4/14/2010 4/15/2010 2
1.2.4 Find target in view 4/16/2010 4/18/2010 3
1.2.5 Track target 4/19/2010 4/21/2010 3
2 Drive Motors 2/25/2010 3/26/2010 30
2.1 Test 2/25/2010 3/22/2010 26
2.1.1 Test motors 2/25/2010 2/25/2010 1 100.0
2.1.2 Test H-bridge 3/22/2010 3/22/2010 1
2.2 Development 3/23/2010 3/26/2010 4
2.2.1 Control speed 3/23/2010 3/23/2010 1
2.2.2 Control direction 3/24/2010 3/24/2010 1
2.2.3 Brakes 3/23/2010 3/23/2010 1
2.2.4 Heading control 3/25/2010 3/26/2010 2
3 Ultrasonic Sensors 2/22/2010 3/27/2010 34
3.1 Test 2/22/2010 2/22/2010 1
3.1.1 Read raw data 2/22/2010 2/22/2010 1 100.0
3.2 Development 3/26/2010 3/27/2010 2
3.2.1 Read and convert raw data 3/26/2010 3/26/2010 1
3.2.2 Set threshold distance for interrupts 3/27/2010 3/27/2010 1
4 GPS 2/22/2010 4/1/2010 39
4.1 Test 2/22/2010 3/27/2010 34
4.1.1 Test chips ability to acquire a lock 2/22/2010 2/22/2010 1 100.0
4.1.2 Test acquisition of raw data (SCI) 3/27/2010 3/27/2010 1
4.2 Development 3/28/2010 4/1/2010 5
4.2.1 Read and convert raw data 3/28/2010 3/29/2010 2
4.2.2 Calculate 3/30/2010 4/1/2010 3
4.2.2.1 Location 3/30/2010 3/30/2010 1
4.2.2.2 Speed 3/30/2010 3/31/2010 2
4.2.2.3 Direction 3/31/2010 4/1/2010 2
4.2.3 Save way-point 3/30/2010 3/31/2010 2
4.2.4 Generate heading to way-point 4/1/2010 4/1/2010 1
5 Neck Control 2/23/2010 4/9/2010 46
5.1 Test 2/23/2010 2/27/2010 5
5.1.1 Test servo control (over clocked) 2/23/2010 2/23/2010 1 100.0
5.1.2 Test servo resolution (8 and 16 bit) 2/26/2010 2/27/2010 2 50.0
5.2 Development 3/22/2010 4/9/2010 19
5.2.1 Control 3/22/2010 4/6/2010 16
5.2.1.1 Axis 3/22/2010 3/23/2010 2
5.2.1.2 Cartesian 3/24/2010 3/30/2010 7
5.2.1.3 Spherical 3/31/2010 4/6/2010 7
5.2.2 Speed settings 3/22/2010 3/23/2010 2
5.2.3 Homing 3/22/2010 3/22/2010 1
5.2.4 General pan control 4/7/2010 4/9/2010 3
5.2.5 General tilt control 4/7/2010 4/9/2010 3
6 Gripper Control 3/22/2010 3/23/2010 2
6.1 Test 3/22/2010 3/22/2010 1
6.1.1 Test gripper functionality 3/22/2010 3/22/2010 1
6.2 Development 3/23/2010 3/23/2010 1
6.2.1 Open gripper 3/23/2010 3/23/2010 1
6.2.2 Close gripper 3/23/2010 3/23/2010 1
7 Integration 3/28/2010 4/28/2010 32
7.1 Avoid obstacles 3/28/2010 3/30/2010 3
7.2 Go to GPS way-point 4/2/2010 4/4/2010 3
7.3 Pan/Tilt camera to track object 4/22/2010 4/26/2010 5
7.4 Rotate robot to track object 4/22/2010 4/25/2010 4
7.5 Grab target 4/27/2010 4/28/2010 2
8 Algorithms 4/5/2010 4/30/2010 26
8.1 Follow target object 4/25/2010 4/28/2010 4
8.2 Avoid obstacles on path 4/5/2010 4/7/2010 3
8.3 Search for lost target 4/27/2010 4/30/2010 4
9 System Testing 4/5/2010 4/29/2010 25
9.1 Identify trained target 4/22/2010 4/23/2010 2
9.2Track moving target, while avoidingobstacles
4/26/2010 4/27/2010 2
9.3 Reach and pickup target 4/28/2010 4/29/2010 2
9.4 Return home 4/5/2010 4/6/2010 2
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