Group #42: Weipeng Dang William Tadekawa Rahul Talari

 develop the most effective and efficient localization system to support IRIS in winning NASA’s Sixth Annual Robotics Mining Competition.

 This system includes two functions: point localization and direction orientation  Point localization: two parallel Lasers sending angle information  Direction orientation: one 360 degrees turning laser associate with RF unit and counter for angle counting.

Wire connection Signal transition

Hardware Laser Signal Transmitter and Receiver, RF signal Transmitter and Receiver, Step Motors, Microcontroller Unit and Power supply. All of the hardware are either on collection bin or Robot Software Since the MCU that we are using is Arduino, so we use Arduino IDE for all of our code.

Laser Signal Transmitter Include two 635mm lasers on collection bin and one 650mm laser on robot. Laser Signal Receiver unit Include two laser receiving & DSP unit on both collection bin & robot, Step Motor Unit Include step motor drivers and step motors. Two of them are collection bin and one on robot. RF Transmitter and Receiver Include RF Transmitter on collection bin and RF Receiver on Robot, Microcontroller Unit Include three arduinos on Collection bin and one on Robot. Power Supply Include one 12V battery and one power convert unit that has 12V input and 12V, 5V and 3V output on collection bin.

Laser Transmitters (Collection Bin) Laser Transmitter (Robot) 650nm red line lasers (2x) 60 degree fan, Class II 635nm red line laser 60 degree fan, Class II

Photodiode Receiver (Collection Bin) Photodiode Receiver (Robot) Three Photodiode DesignSingle Photodiode Design

Transimpedance AmplifierPassive HPF Active BPF Comparator

Transimpedance AmplifierPassive HPFActive BPFComparatorSumming Amplifier

Include two parts: a NEMA 17 Stepper Motors and a CNC Router Single 1 Axis TB A Stepper Motor Driver

 Operation Voltage is 12V  Operation Current is 350mA  200 steps/rotation (1.8 degrees/step)  Red & Yellow wire pair for Coil #1  Green & Blue wire pair for Coil #2

 Operation voltage is 12V.  Operation current is around 0.7A. Connect to motor 12V Power supply Control signal enable Motor Direction control Motor Speed control Control signal 5V power supply

Collection bin Two motors rotate 180 degrees in parallel and back and forth to turn the lasers for Localization system. Robot One motor rotate 360 degrees and back and forth to turn the laser for orientation system.

 RF Transmitter on Collection bin  RF Receiver on Robot  Receive Triggered signal from Photodiode and send this triggered signal back to receiver to stop orientation angle counter  Use Link TXM916-es and Link RXM916-es module

Transmitter Receiver

Include one 12V battery for all power supply on collection bin and one power box that convert the input 12V to 12V, 5V and 3V output. Power of localization system on Robot will be provided by Robot. Use CC3-1203SF-E and CC SF-E module for DC/DC converters.

Switch Input 12V Output 5V Output 3V Output 5V Positive Output 12V Positive Output 12V Negative

 We use Arduino Mega 2560 and Arduino Uno R3 for our microcontroller Unit  We have two Arduino Mega and one Uno on collection bin and one Mega on Robot

 Use of Timer1 and Timer3 for frequency generation  Use of FreqPeriodCounter library to detect the frequency and calculate angles  Use of Stepper library to instantiate objects of Stepper to run the motors at desired speeds  Use of INPUT and OUTPUT pins to trigger RF transmitting and receiving signal

 Trigger Stepper Motor driver at 350 Hz  Ensure that Stepper Motor completes one complete revolution in 2s  Invert direction of motors on collection bin upon traversal of 180 degrees  Ensure complete 360 degree turning of motor on robot

 Input x,y, θ every 2 seconds serially to the autonomous system  SLAM system enabling in the robot to avoid crashing in the test zone  Accurate estimate of location and direction of robot for navigation purposes

Frequency generation – Laser A (1 – 5 KHz), Laser B (5 – 9.6 KHz) Frequency detection – Detect both angles and generate x,y Generate x,y every 2 seconds

 Generate constant frequency signal through laser on robot  Upon RF input == HIGH, stop the counter to generate the angle θ  Generate θ every 2 seconds

 Frequency of Laser A are detected and stored until frequency of Laser B is detected.  Interrupt based approach to minimize time delays and error  Upon receiving both angles calculations are performed to generate x,y

 Frequency of Laser C detected upon RF trigger  Polling method used to generate θ  Due to lag of RF transmitting and receiving, θ – (θ – 5) to ensure that the previous angle is recorded via calculations

 Trigonometric equation: x = (145 * tan(θ1))/(tan(θ1) + tan(180 – θ2)); y = x * tan(180 - x); Θ = (Number of Steps/Revolution)/ 10;

 We finished localization function and the Orientation function is still need some time to fix the code. But the hardware for the whole system is working.  What are we going to do is to fix the orientation code and combine the two function together. Also we will increase the accuracy of the calculation.