Sophomore Design

A Proposed Project FormatR. E. Haskell

4/26/2003

Sophomore Design

• Common design project (competition) for all groups

• Model of “automated highway system” in which a vehicle automatically follows a “line” on the road

• Competition at the end of the term in which groups “race” their vehicles by following a “black-tape” course

Automatic Lane Detection

Autonomous Vehicle Lane(AVL)

Example Demo

Click photo for video clip

Base design on 2-wheel drive

Click photo for video clip

Vehicle

IR Sensors

MC9S12DP256

Infrared Sensor Layout

91/32"

5/32 "

22/32" 22/32"

7/32 "

1

2

4

3

Fairchild QRD1113/1114

$0.79

IR Sensor Schematic

Have EE faculty give a lecture on how transistors work and howto design this circuit to produce an output voltage V.

Sharp GP2D120 IR sensorSharp GP2D120 IR sensor

$13.50

Measures distances from 4 cm. to 30 cm.Analog output

Use to measure distance to car in front

H-Bridge Design

PWM

5V

REF

1k

1k

1k

1k

MIN

Have EE faculty give a lecture on how transistors work and howto design an H-bridge to provide proper current to a specific motor.How to solder.

Equation for Vs, Vf, VR, VL

• VR = Vf + (d*Vs) / 2

• VL = Vf - (d*Vs) / 2

r

d

VL

VR

VS

Have ME faculty give a lectureon linear and angular velocitiesand how to compute motorspeeds to produce particularrobot speeds and steering.Mechanical design, cutting holes, etc.

CML-9S12DP256 Single board Computer

Have CS/CE faculty givelectures on how to programthe MC9s12DP256 in C.

Have CS/SYS faculty givelectures on how to designcontrol algorithms for therobot

CSE 480 – Fall 2003

• Have groups “design” and test this Sophomore design project

• Each group has a $200 limit for their vehicle

• Design should maximize speed to win race while maintaining safety by not running into car ahead on multiple car test