PDR – GPS Rover Travis Gruber Matthew Kennedy Marcin Skirucha Phill Treddenick

PDR - Overview The Big Picture Project Outline Design Contingency plan Cost Analysis Design schedule

The Big Picture A mobile surveillance and reconnaissance rover Location and destination determined by the Trimble GPS unit Destination waypoints delivered using RF communications Orientation determined by onboard digital compass Collision detection using frontal sensory antennae Sharp inclinations/declinations avoided using inclinometer Digital camera for surveillance and reconnaissance

System Design Overview System bus 68HC11 A to D System Memory GPS Digital Compass Inclinometer RF receiver DAC Drive Servo Motor Servo Terminal RF transmitter Collision detectors Camera

Design Basics Rover Chassis Embedded Board Communications Software GPS

Rover Chassis Fiber Composite Chassis High Torque 20-Turn Motor Rotary 3-Speed Control 12.25” Front and Rear Track Adjustable Gear Ratio Steering Servo 3.2kg-cm Torque 0.223sec/60 degree

Embedded Board MC68HC11 12 MHz Multiple ADCs for Closed Loop Control Multiple DACs for Servo and Motor Control RF RS-232 Serial Link with Terminal Tethered Operation for Testing Digital Compass – Inclinometer – Digital camera

Communications RF RS-232 Talking to GUI Emergency Stop Data Return

Software JAVA GUI Camera

GPS Trimble Magnet Mount Sub-meter Precision Serial Interface

Fall Back Positions RF Serial Failure Permanent Tether Independent Power for Embedded Board Failure Permanent Tether Questionable Rover Stability Lock Shocks

Learning Curve Servo and Motor Control Hack Signals from RC Controller GPS Receiver Data Format RF Communication Collision Detection How to interface with limit switch Interface to Digital Compass and Inclinometer Interface and remote trigger to digital camera

Parts and Costs Parts Traxxas RC Car Futaba Remote and Servos MC68HC11 CPU Trimble GPS Locator Digital Compass Inclinometer Battery Pack and Charger Limit Switch DACs, ADCs Digital Camera Costs $ $ $ 4.00 $ $ $ $ $ 20.00

Total Costs Estimate Total Parts: $ /unit Total Development Costs: $36, Total Labor Costs: $ /unit Price of Finished Product: $ Estimated Number of Sales: 300 Profit: $ 78,000.00

Marketability Possible Targets for Marketing NASA Military Survey Companies

Schedule

Milestones Milestone I Download code to the board Software has basic control of car Milestone II Tethered car moves to programmed GPS coordinates Expo Autonomous car responds to remote commands Collision and inclination detection Functional digital camera

Division of Labor Travis Reverse engineer car Interface Limit Switches Interface digital camera Phill Reverse engineer car GUI RF communication Matt Get processor running Interface GPS Marcin Get processor running Interface compass Everyone Documentation Coding

Conclusions Project objectives and purpose of the system Outline of the approach Implementation of the various sub- systems Division of labor and responsibilities Schedule Risks and contingency plan