ECE 477 Design Review Team 10  Spring 2007 JUSTIN AZAD AFIFF NUHAIRIADAM

Outline Project overviewProject overview Project-specific success criteriaProject-specific success criteria Block diagramBlock diagram Component selection rationaleComponent selection rationale Packaging designPackaging design Schematic and theory of operationSchematic and theory of operation PCB layoutPCB layout Software design/development statusSoftware design/development status Project completion timelineProject completion timeline Questions / discussionQuestions / discussion

Project Overview: Hazard Rover Remote-controlled tank with a robotic armRemote-controlled tank with a robotic arm User controls tank and receives status information from a control website through wi-fi interfaceUser controls tank and receives status information from a control website through wi-fi interface Wireless webcam streams video back to control websiteWireless webcam streams video back to control website Capabilities:Capabilities: –Obstacle detection – stop tank when detected –Light sensor/LED headlight –Camera tilt movement Model of a tank to be used in a hazardous or polluted areaModel of a tank to be used in a hazardous or polluted area

Project-Specific Success Criteria An ability to control the speed and direction of the vehicle (forward/backward).An ability to control the speed and direction of the vehicle (forward/backward). An ability to display system status (battery life, stopped/running) on an embedded web page.An ability to display system status (battery life, stopped/running) on an embedded web page. An ability to sense obstacles and stop the vehicle if it is near an obstacle.An ability to sense obstacles and stop the vehicle if it is near an obstacle. An ability to control the position of a robotic arm on the vehicle.An ability to control the position of a robotic arm on the vehicle. An ability to sense ambient light and turn on a bright LED if there is not enough light.An ability to sense ambient light and turn on a bright LED if there is not enough light.

Block Diagram 2 ATD “PWM” GPIO “PWM” 1 11 Microcontroller Built-in Ethernet Interface Wireless Bridge WiFi Enabled Personal Computer Wireless Webcam Vehicle Lighting Unit Camera movement servo motor (tilt) DC-DC Converter BatteryVoltage Regulator To all components DC Motor Control LED Headlight Light Sensor Robotic Arm (DC motor) X3 Obstacle Sensors 2 DC Motor Driver X2 Tank Drive motor 3 ATD (5V) DC Motor Control Tank steering motor 2 GPIO “PWM” 1 GPIO

Component Selection Rationale 1. Microcontroller1. Microcontroller –Freescale MC9S12NE64 –Built-in ethernet interface –Has more I/O pins than project requires 2. Battery2. Battery –8.4V NiMH Battery Pack –4500 mAh, estimated battery life of ~2 hours before recharge

Component Selection Rationale 3. Voltage Regulator (8.4V to 5V)3. Voltage Regulator (8.4V to 5V) –Fairchild KA78T05 Positive Voltage Regulator –All components except microcontroller can run on 5V –Capable of providing 5A, ~3 motors 4. Voltage Regulator (5V to 3.3V)4. Voltage Regulator (5V to 3.3V) –Toshiba TA48033F Voltage Regulator –DC-DC step voltage for microcontroller

Component Selection Rationale 5. Light Sensor5. Light Sensor –Jameco CDS Photocell –Provides variable resistance 1K-1M ohms 6. LED Cluster6. LED Cluster –SunLED XK4MDW62 LED Cluster –Provides bright light off of 5V 7. Camera Tilt Servo Motor7. Camera Tilt Servo Motor –HS-422 Servo motor with “C” bracket attachment for tilt capability –Runs off 5V

Component Selection Rationale 8. DC Motor Control8. DC Motor Control –Fairchild FAN8082 Motor Driver –Runs off 5V –Drives tank steering motors as well as all robotic arm motors. 9. Drive Motor Control9. Drive Motor Control –Tecel D200 High Power H-Bridge Driver –Runs off 5V, capable of driving the motor –Noisy component – on separate board

Component Selection Rationale 10. Wireless Bridge10. Wireless Bridge –D-Link Wireless Bridge DWL-G820 –Instantly compatible with Ethernet-enabled microcontroller 11. Wireless Webcam11. Wireless Webcam –D-Link Wireless Webcam DCS-G900 –Instantly capable of broadcasting live video feed to the web

Component Selection Rationale 12. Robotic Arm12. Robotic Arm –Jameco Robotic Arm Trainer Kit –5 degrees of freedom, controlled by servo motors 13. Obstacle Detection13. Obstacle Detection –Sharp GP2Y0A02YK Infrared Sensor –Provides analog signal 0-5V

Packaging Design 20 “ 5 “ 15 “ PCB Board Battery Wireless Bridge Wireless Camera Light Sensor LED Front Distance Sensor Rear Distance Sensor 4“ 9“ 4“

Schematic/Theory of Operation MicrocontrollerMicrocontroller

Distance Sensor The output voltage is a function of distance from the obstacleThe output voltage is a function of distance from the obstacle

Light Sensor The output voltage is a function of amount of ambient light presentThe output voltage is a function of amount of ambient light present

Power Supply The 8.4V supply powers all motor drivers: FAN8082 and Tecel D200The 8.4V supply powers all motor drivers: FAN8082 and Tecel D200 The 5V supply powers all other components except for the microcontrollerThe 5V supply powers all other components except for the microcontroller The 3.3V supply powers the microcontrollerThe 3.3V supply powers the microcontroller

Ethernet Interface Built in magnetic filterBuilt in magnetic filter

FAN 8082 It drives DC motors and steering motorIt drives DC motors and steering motor

Wireless Camera It operates independently of the microcontrollerIt operates independently of the microcontroller

H-Bridge

PCB Layout

Motor Drivers: FAN8082 Left corner of the boardLeft corner of the board Motor drivers placed together to group noise productionMotor drivers placed together to group noise production

Power Supply and Decoupling capacitors The two voltage regulators supply the three voltages necessary to run the circuit: 8.4V, 5V, 3.3VThe two voltage regulators supply the three voltages necessary to run the circuit: 8.4V, 5V, 3.3V Opposite corner from the microcontrollerOpposite corner from the microcontroller

Microcontroller and Ethernet

Headers Headers for components off the boardHeaders for components off the board The Tecel 200 has separate boardThe Tecel 200 has separate board

Software Design/Development Status Two partsTwo parts –User interface: Using C# on Visual Studio. Controller: Keyboard and mouseController: Keyboard and mouse Status display: Battery life, stop, directionStatus display: Battery life, stop, direction UDPUDP –Microcontroller Using subset of C on CodeWarriorUsing subset of C on CodeWarrior Using OpenTCP stack for webserverUsing OpenTCP stack for webserver Polling loopPolling loop PWM, ATD, SCI, EPHYPWM, ATD, SCI, EPHY

Software Design/Development Status

Start/Reset Initialization Dri ve Ar m Pan/ Tilt Get flags Forward/ reverse Turn Move Arm Move camera Y Y Y N N N Read light sensor Dar k? LEDs on Y Read Front Distance Clo se? STOP Y Read Rear Distance Clo se? STOP Y N N N

Project Completion Timeline Week2/263/53/123/193/264/24/94/164/234/30 PCB/ Schematic PCB Soldering Software Designing Packaging Testing Documentation

Questions / Discussion