Mars Rover By: Colin Shea Dan Dunn Eric Spiller Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski

Outline Project Summary Project Summary Review of Previous Work Review of Previous Work Division of Labor Division of Labor Datasheet and Parts Datasheet and Parts Design Changes Design Changes Progress Update Progress Update Schedule Schedule

Project Summary The main objective is to design the Rover for long battery life that must last 7 days without recharging. The main objective is to design the Rover for long battery life that must last 7 days without recharging. The Rover will use PC104 to control the interface among the user and the Rover and high level software. The Rover will use PC104 to control the interface among the user and the Rover and high level software. It will also use the MicroPac 535 microprocessor to control low level software such as the motors for motion, the sonar system, and the battery level. It will also use the MicroPac 535 microprocessor to control low level software such as the motors for motion, the sonar system, and the battery level. The user will be able to enter a specific distance, move a predetermined distance, or rotate the Rover to get a preferred direction. The user will be able to enter a specific distance, move a predetermined distance, or rotate the Rover to get a preferred direction. The user will be able to move the Rover with the use of their direction keys. The Rover will move in a constant direction until the key is released The user will be able to move the Rover with the use of their direction keys. The Rover will move in a constant direction until the key is released

Previous Work Rob Shockency and Randall SatterthwaiteRob Shockency and Randall Satterthwaite Robotic Platform DesignRobotic Platform Design EMAC 8051 and a CPLDEMAC 8051 and a CPLD Design GoalsDesign Goals 1. Create Cheaper version of Telerobotics Create Cheaper version of Telerobotics Upgradeable and expandable in the future 2. Upgradeable and expandable in the future

Division of Labor Dan DunnColin SheaEric Spiller Assembly CodeJava/ServerHardware - Motor Speed - Image Capture- DC Motors - Wheel Sensors- Rover Controls- Platform Construction - Battery Charge Level- Serial Communication- H-bridge/Motor Driver -Serial Communication- Battery Charger -Acoustics Sensors

Data Sheet Specifications Turning accuracy - ± 5° for an individual turn command Turning resolution - 15° Driving accuracy - ± 5cm and ± 2° for a 100cm command Camera capture speed – 5 324x288 resolution for a 10BaseT connection Weight – ~28lbs Battery life – 7 days without a recharge Top speed – 10cm/s Acoustic sensors – Time between transmit signals – 10 seconds Farthest object detection – 200cm Closest object detection – 50cm

Data Sheet Motors – Model number – GM9X12 Gearing – 1:65.5 Max current – 4.56A Voltage – 12V Wheel Sensors – Output – TTL Pulses per revolution of shaft – 512 Voltage required – 5V Battery charge level accuracy - ± 5% Wireless protocol – b Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H) Battery – 2 X 7.2Ah Wheels – 5cm x 16cm (Width x Diameter)

Data Sheet PC104 – Max Current – 1.5A Processor – National Semiconductor Geode 300MHz RAM – 128MB Video – Onboard Video card PCMCIA module – Current -.07A Wireless Card – Linksys WPC11 Max Current -.3A Current in Sleep mode -.02A Hard Drive – IBM Travelstar 2.5 inch IDE hard drive, 20GB Max Current -.94A (Spin-up Current) Current in Sleep Mode -.02A Camera – Logitech USB Webcam Max Current -.1A

Parts and Price List Equipment List for Mars Rover PartQtyWebsiteManufacturerLocation of VendorPart #Price 20 Gb1 ter.comHIDK23DA20F$ Mb RAM1 ry.com LG1064U/064/G3 VAC$14.20 PC/MCIA Wireless Card1 comDL1150$69.00 USB Webcam1 PC MHz w/ USB1 dustries.comNational Semi stries.comCM-589$ Dual PC/MCIA Adaptor1 dustries.com National Semi stries.com CM-589 $94.00 Pittman DC Motor #92362 Bradley Owned Pittman om $672.20

Design Changes Replaced Linux based operating system with Windows based operating system Replaced Linux based operating system with Windows based operating system –Video Card was incompatible with Linux although manufacturer stated the card was compatible –Linux operating system was not stable on PC-104 board

Design Changes Flash Memory Card and PCMCIA Hard drive replaced by Laptop Hard drive Flash Memory Card and PCMCIA Hard drive replaced by Laptop Hard drive –Flash Memory Card was not capable of booting the PC-104 at start-up –PCMCIA Hard drive was not visible by computer until system completed start-up sequence –Laptop Hard drive booted easier and still remained low power

Lab WeekFall Expected Project Milestones 19-Jan-03Assemble PC104 and interface with previous Robotic Platform Design project. 26-Jan-03Create boot software for Linux. Install drivers for all components in Linux. 2-Feb-03Develop and test motor control software on Micropac 535. Develop software to interpret wheel sensor bit streams. 9-Feb-03Continue working on software development for motor control and feedback loop. 16-Feb-03Develop software to capture image from camera and send to user. Continue working on software development for motor control and feedback loop. Work on web server development. 23-Feb-03Create Java applet for user interface. 2-Mar-03Continue with Java applet Work on software to estimate battery charge level. 9-Mar-03Finish working on software to estimate battery charge level 16-Mar-03Spring Break 23-Mar-03Develop software to operate acoustic sensors 30-Mar-03Finish Java applet. 6-Apr-03Testing of individual components and overall system. 13-Apr-03Testing of individual components and overall system. 20-Apr-03Preparation for presentation and final report 27-Apr-03Presentation

Progress Update Second Semester DateProgress Description 1/19/03 to 1/25/03 Installed Linux Red Hat 8.0 onto an older Pentium 166 computer. Waited to get the PC104 board and modules. 1/26/03 to 2/1/03 Attempted to install Linux on the PC104 board using the PCMCIA hard drive as the main hard drive. Linux never recognized the drive, so we decided to use a 2.5 inch IDE hard drive. 2/2/03 to 2/8/03 Attempted to install Linux on the 2.5 inch hard drive. Linux would install and boot, but not run. After many hours of installing and adjusting configurations for Linux, we discovered that Linux was incompatible with Geode processors. We decided to use Windows 2000 instead, because of stability and compatibility. 2/9/03 to 2/15/03 After establishing a stable platform to work with, we began to add the peripherals and necessary software. Setup servers at and at 2/16/03 to 2/22/03 Tested serial communication between a windows based computer and the Micropac 535. Tested H-bridge design with Pittman DC motor. 2/23/03 to 3/01/03 Continued testing serial communication between a windows based computer and the Micropac 535. Tested PWM signal from MicroPac 535 to generate signal for H-bride operation. Tested H-bridge design mounted on circuit boards with 30V Pittman DC motor and later with PWM signal from MicroPac /02/03 to 3/08/03Reconstruct Rover and Presentation

Progress Flow Chart Green = Developed Red = Partially Developed

PC104/Upper Level Microprocessor

Previous Work

Rover Hardware

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