T BAC Speaker Name Slide 1 Earl Grey and The Boston Tea Party Present The Entourage

T BAC Speaker Name Slide 2 Team Members  Casey Gold  Ellen Prommersberger  Nathan Winder  Steven Anderson  Tom Monikowski Ellen

T BAC Speaker Name Slide 3 Purpose  Ease tedium of stop-and- go traffic  Improve safety of rush hour driving Ellen

T BAC Speaker Name Slide 4 Objectives  Use sensors to determine position of car relative to other vehicles  Control acceleration and breaking based on distance away from leading vehicle  Control steering to follow lead car  Demonstrate concept on RC vehicle Ellen

T BAC Speaker Name Slide 5 Concept Ellen

T BAC Speaker Name Slide 6 Turning the Car Ellen

T BAC Speaker Name Slide 7 System Overview Casey

T BAC Speaker Name Slide 8 System Architecture Casey

T BAC Speaker Name Slide 9 Processor and Memory Casey

T BAC Speaker Name Slide 10 FPGA Casey

T BAC Speaker Name Slide 11 Memory Mapping  Implement on FPGA  Code using Verilog Casey

T BAC Speaker Name Slide 12 Software  Accept values from sensors Interpret as distances or hits/misses  Conditionally determine the course of action Speed and turning  Handle user warnings Tom

T BAC Speaker Name Slide 13 Software Speed Adjustment Two major components to speed adjustments:  Relative velocities  Ideal distance Tom

T BAC Speaker Name Slide 14 Software Speed Adjustment Tom

T BAC Speaker Name Slide 15 Software Speed Adjustment Tom

T BAC Speaker Name Slide 16 Software Speed Adjustment Tom

T BAC Speaker Name Slide 17 Software Speed Adjustment Tom

T BAC Speaker Name Slide 18 Software Speed Adjustment Tom

T BAC Speaker Name Slide 19 Software Speed Adjustment Tom

T BAC Speaker Name Slide 20 Software Speed Adjustment Tom

T BAC Speaker Name Slide 21 Software Speed Adjustment Tom

T BAC Speaker Name Slide 22 Software Speed Adjustment Tom

T BAC Speaker Name Slide 23 Sensor Changes ULTRASONIC  +/- 5º beamwidth (actually +/- 5.25” at 60”)  13 pin output (requires about 7 FPGAs)  1 cycle/second  $20 each INFRARED  +/- 2” beamwidth at 0” - 60”  Single pin output (direct connect to A/D ports in HC11)  50 ms period  $12 each Ellen

T BAC Speaker Name Slide 24 Sensors  Infrared analog output  Sharp GP2Y0A02YK  Range: 20 cm – 150 cm  Beam width: +/- 50mm Ellen

T BAC Speaker Name Slide 25 Sensor Data Data Sheet Reflectivity Curve Experimental Data Reflectivity Curve Ellen

T BAC Speaker Name Slide 26 RC Car Interface  Speed Control Maintain following distance relative to speed Constantly monitor speed of vehicle  Steering Incremental adjustment system Digital servos  Manual Control Disengages with driver input changes ENGAGE/DISENGAGE button Audio/Visual User Warnings Nathan

T BAC Speaker Name Slide 27 Speed Control Functionality  Digital-Analog Conversion translates digital duty cycle to analog voltage  DC Motor: Linear Relationship between Voltage and Speed Nathan

T BAC Speaker Name Slide 28 Speed Control Interface Nathan

T BAC Speaker Name Slide 29 Speed Control Hardware Design Nathan

T BAC Speaker Name Slide 30 Steering Interface  Digital interface with I/O port on FPGA  Smooth servo transition from 0º - 90º  0º corresponds to 6% duty cycle  90º corresponds to 9.5% duty cycle Nathan

T BAC Speaker Name Slide 31 Manual Control Interface  RC controller operates at 75.75MHz  RC receiver outputs digital signals  Signals “RC SpeedControl” and “RC SignalControl” sent to FPGA  Change in signals indicates Manual Input/Override Nathan

T BAC Speaker Name Slide 32 User Warning Output  Warnings output digital signals from FPGA  Signal “IntWarning” to warn of potential problems Slower frequency buzzing and flashing yellow LEDs  Signal “FinalWarning” to alert system disengagement Faster frequency buzzing and flashing red LEDs Nathan

T BAC Speaker Name Slide 33 Power System Tether (120VAC – 15VDC) 5 V Regulator  Sensors  Processor  Memory  FPGA  DAC  RC receiver  Servos 3.3 V Regulator  EPROM Steve 15 VDC  DC motor  Current gain OpAmps  DAC

T BAC Speaker Name Slide 34 Schedule Steve

T BAC Speaker Name Slide 35 Deliverables Milestone One  Full prototype functionality Milestone Two  Implement on real Escalade Expo  Full Distribution to 10,000 Dealers Nationwide  ROI: 100 Million Dollars Steve

T BAC Speaker Name Slide 36 Actual Deliverables Milestone Two  Final Bug-infested Software  Finalized Hardware mounted in vehicle Milestone One  Peripheral Hardware Tested and Built  Servos Mounted  Processor, Memory and FPGA fully functioning  Running preliminary Software Steve

T BAC Speaker Name Slide 37 Division of Labor  Casey – FPGA/Processor Setup, Programming  Ellen – Controls, Sensors, Quality Control  Nathan – Control Interface, Hardware Design, Construction  Steven – Power, Construction  Tom – Math, Sensors, Software Design Steve

T BAC Speaker Name Slide 38 Parts and Prices  RC Escalades (2) $70 ea  Optoisolators 6N139 (6) $0.25 ea  Infrared Sensors Sharp GP2Y0A02YK (7) $14.50 ea  DAC MAX5312 $10 (adaptor socket)  Buzzers/bicolored LEDs $1 ea  Prototyping materials $25  PCBs 2-layer Board $33 per revision  CPU 68HC11E0  FPGA XCS10  RAM CY62256  Flash ROM AT29C256  Bus drivers 74HC245 (2)  Latch 74HC373  Assorted logic chips  8MHz clock  EPROM XC18V256  OpAmps OPA548 (3)  RC receiver and servos Steve

T BAC Speaker Name Slide 39 Possible Additions  Extra sensors  Programming for highway driving (higher speeds)  More accurate sensing for nonstandard vehicles  NOS Wet or dry shot?  Five 10” LCD screens  Streetglow Blue Blinking? Steve

T BAC Speaker Name Slide 40 Wrap Up Haiku Escalade Rollin Entourage Wheels are Spinnin Bass that’s a Bumpin Steve