Wireless Ethernet AT-Rover

Group 1

Beau Cook, Barry Greenwood, Danny Martin, Matt Patella, Ian Petrie

PDR Overview

Project IdeasSpecificationDesignAnalysis of DesignRequirements

Project Ideas

Wireless Ethernet Communication

Audio/Video Transmission

Independent MotionReal Time Control via

Remote TerminalAll Terrain

Project Ideas

Sensors– Collision, Altimeter, Temperature, Humidity, Compass, Barometer

GPSAutomatic Recharge CapabilityAutomatic Homing NavigationLCD Battery MeterFollow Moving TargetAuto Focus

Specifications Overview

FunctionalityPhysical CharacteristicsCostReturn on InvestmentPerformanceLimitations

Functionality

On-Board Processor (MC68030)

Ethernet Communication– Audio/Visual Transmission– Sensor Data– Navigation Control

Independent Rover Control– Return Home– Preloaded Instructions– Collision/Roll Detection and

Avoidance System I/O Processing

– Sensors

Functionality (cont’d)

Terminal Software– Drive Control

• Real Time Control• Executable Navigational Programs

– Video/Audio Display– Real Time Motion Control

• Joystick/Pistol-Grip

Physical Characteristics

All-Terrain Vehicle– Rugged Design

• Large Wheels

• Wide Wheel Base

• Durable Body Materials

– Automatic Collision/Roll Detection

– Torque to climb 45º incline

Battery Powered Motors– Quiet and Rechargeable

Cost

Embedded System– ~$150.00

Rover Body + Drive– ~$150.00

Battery Pack– ~$60.00

Wireless Ethernet– ~$200.00

Cost (cont’d)

Video Camera– ~$50.00

Microphone– ~$5.00

Sensors– ~$60.00

Miscellaneous– ~$50.00

TOTAL: ~$725

Financial Breakdown

Embedded System

Rover Body + Drive

Battery Pack

Wireless Ethernet

Video Camera

Microphone

Perpheral Sensors

Misc.

Return on Investment

Target Market– Military– Search and Rescue– Bomb Squad– Home Security

Price: ~$1125 Expected Sales

– ~1000 units Net Income:

– $1.125 million Profit: $400k

Performance/Limits

Ethernet Range – Inside 100ft– Outside 300ft

Bus Speed– Max 12MHz– Limits Video Resolution

Video– MPEG Format– 640x480/30fps

Audio– Sample 30kHz/16 bits

Performance/Limits

Top Speed– ~5 mph

Climbing– 45º slope

Design Analysis Overview

Hardware/Software ImplementationTechnical DecisionsBuild or Buy DecisionsScheduleFall Back PositionsEquipmentTest Requirements

Hardware/Software Implementations

Terminal Assembly– Manual Control

• Choose from Joystick, Keyboard, or a Custom Controller

– Terminal Software• G.U.I. with Real Time Control Interface,

Programmed Control Routines, Audio/Video/Sensor Output

– Wireless Ethernet Interface• “ad-hoc” Mode (DHCP)

Hardware/Software Implementations (cont’d)

Rover Assembly– Chassis and Drive Train at ~1:25 Scale– System Board:

• Processor, Memory, I/O Interfaces

– Wireless Ethernet and PCI Interface– Camera and USB Interface– Microphone with A to D Conversion– Additional Sensor Inputs and Connecting

Hardware

System Board Schematic (Rover)

I/O Hardware

Terminal Schematic

Technical Decisions

Motorola 68000 family of processors– M68030: 32bit, 16+ MHz

802.11b ‘Ad-Hoc’ Wireless Ethernet communication with AT-Rover, 2-way data transmission for Rover’s control and sensory information

Four Servos– Two 150 ounce*inch torque motors for rear wheel– Two smaller servos for steering and camera direction

Build or Buy Decisions

Custom Built Rover Chassis and Drive Train. Designed for:– System Board Size– Sensor Mounts

System board – Wire wrapped

Possible use ofMicrocontroller

for Rover control

Schedule

Fall Back Positions

Ethernet Communications Failure– Use of a wired Ethernet tether

Independent Control Programs Failure– Manual control only

Terminal Software Integration Failure– Be able to prove the rover would work– Typed commands at the very least

Equipment

Overall– Rover chassis, drive train, suspension, shock

suppression mounting for components

Rover system board– processor, memory, system bus, FPGA’s,

micro-controller(?).

Sensors– video camera, microphone, proximity sensors,

thermometer, battery gauge, etc.

Equipment

Wireless Ethernet Cards for both terminal and rover (‘ad hoc’ mode)

Manual control stick for real-time controlSoftware

– terminal/rover real-time interactive control

Test Requirements

Micro-processor operation.System-board operation. I/O interface operation.

– Audio/Video operation– Servo/Motion control

Wireless ethernet operation.Terminal control operation.Full H.U.D. type display.Added sensor capability and integration.

Conclusion

Wireless Ethernet AT-Rover

Project IdeasAbove Par Physical

CharacteristicsAnalysis of DesignThank You!