1. NETWORK RC CAR©
James Crosetto BS (Computer Science and Computer Engineering)
Jeremy Ellison BS (Computer Engineering)
Seth Schwiethale BS (Computer Science)

2. Member Bio’s James Crosetto Seth Schwiethale Jeremy Ellison
Computer Science and Computer Engineering
Pizza Guru
Seth Schwiethale
Computer Science
Music Diversity Contributor
Jeremy Ellison
Computer Engineering
Anti-Coldplay

3. Presentation Outline Objectives Requirements Design and Implementation
Goal Setting
Innovate & Design
Requirements
Necessary Equipment
Design and Implementation
Code Review
Future Development
Where to go from here

4. Objectives Goal Setting Innovative development Project Overview
Functional Objectives
Learning Objectives
Innovative development
Radio Frequency vs. Internet
Computer vs. IP Camera
Goal Setting Innovative Development Design Development Research Products

5. Objectives Goal Setting
Project Overview
Expanding the range of a remote control car
Control car over network
Be able to have first person view of car’s location
Build something cool
Goal Setting Innovative Development Design Development Research Products

6. Objectives Goal Setting
Functional Objectives
Establish connection between RC car and driver’s computer
Get real time visual feed
Control RC car
User friendly GUI
Goal Setting Innovative Development Design Development Research Products

7. Objectives Goal Setting
Learning Objectives
Understand Wireless Communication
Efficient methods of sending and receiving data
Embedded Systems
Microprocessors
Assembly Language
Linux / C
R/C car design and functionality
Servos
Pulse Width Modulation
Goal Setting Innovative Development Design Development Research Products

8. Objectives Innovative Development
Radio Frequency ft
Line-of-sight
Object interference
Internet Network
Advanced Range
Non-line-of-sight
Goal Setting Innovative Development Design Development Research Products

9. Objectives Animated Design Progression
Goal Setting Innovative Development Design Development Research Products

10. Requirements
Necessary Components
Car
Camera
Microprocessor
User’s PC

11. Requirements The Car
Goal Setting Innovative Development Design Development Research Products

12. Requirements The Car 3 Leads: Ground Vcc Pulse width modulation
Goal Setting Innovative Development Design Development Research Products

13. Requirements The Car
Goal Setting Innovative Development Design Development Research Products

14. Requirements The Car
Square Pulse wave of ms repeats every ~20ms
Width of pulse determines the position of the servo with 1.5ms as the normal center
The amplitude of the pulse is from the reference level to the Vcc
Vcc = V
Goal Setting Innovative Development Design Development Research Products

15. Requirements IP Camera
Power: 5.1 V DC, max 3.5 W
Alarm output (motion, audio, external)
Open API for software integration
CPU, video processing and compression;
Ram: 32MB
Flash: 8MB
Goal Setting Innovative Development Design Development Research Products

16. Requirements Microprocessor
Receives and translates signals from the transistor output of the IP camera
Sends translated signals to steering box and speed control
Programmed with C and Assembly
DragonFly12
Goal Setting Innovative Development Design Development Research Products

17. Research and Development product research – end user
R&D Human Resources Purchasing Production Management Sales
Research and Development product research – end user
View video stream from camera
Send commands to the car
Goal Setting Innovative Development Design Development Research Products

18. Unexpected outcome of design…
Swarmed with applications to be our advisor:

19. Project Costs: Camera Little Caesars Traveling Costs
One time Purchase: $275
Little Caesars
Hot-N-Ready: $600 annual cost
Traveling Costs
Seminar in Hawaii - $800/member
Still pending department approval…

20. Implementation

21. PARTYING?
How to accomplish our goals?

22. NO!!!

23. STUDYING?

24. YES!

25. Implementation 3 Major Lines of Communication PC  Camera
Camera  Microprocessor
Microprocessor  Car

26. Implementation Animated Diagram
1. PC to Camera
2. Camera to
Microprocessor
3. Microprocessor to Car
PC  Camera Camera  Microprocessor Microprocessor  Car

27. Design: PC to Camera Software requirements to communicate
Server to take commands (camera side)
Client to give commands (user pc side)
GUI to show video feed
Reusability
PC  Camera Camera  Microprocessor Microprocessor  Car

28. Server Background
ARTPEC processor running Linux on a armv4tl architecture
Server written in C
Compiled using an x86 to ARM cross-compiler
PC  Camera Camera  Microprocessor Microprocessor  Car

29. Crashing Ubuntu
V8.10
v8.04
v7.10
v7.04
v6.10
v6.06 LTS

30. Server Implementation
TCP/IP Socket
can be thought of as a file
Basic Process
create socket
bind to port
listen on port for connections
accept connection
handle input
PC  Camera Camera  Microprocessor Microprocessor  Car

31. Server code

32. Server implementation

33. Server implementation

34. Client Background Java for cross-platform
TCP/IP Socket to communicate w/ Server
Incorporate into a GUI
PC  Camera Camera  Microprocessor Microprocessor  Car

35. Video Feed Background Using MJPEG stream from Camera’s webserver
Get the feed
Put it in a component of the GUI
PC  Camera Camera  Microprocessor Microprocessor  Car

36. Motion JPEG Stream Stream looks like: Content-Type: image/jpeg
Content-Length: <image size>
<JPEG image data>
--<boundary>
PC  Camera Camera  Microprocessor Microprocessor  Car

37. Making it usable Parse each JPEG out of the stream
Update GUI when JPEG ready
Continuously Paint image to screen
PC  Camera Camera  Microprocessor Microprocessor  Car

38. Video Feed Implementation
StreamParser
splits up Axis’ MJPEG stream into JPEGs
strips out headers and looks for start of jpeg
happens to be: 0xFF 0xD8
constantly gets byte arrays (segments)
when –boundary found, jpeg is ready
AxisCamera
extends JComponent
can be added directly to GUI
Listener of StreamParser
Runs as a Thread from GUI calling StreamParser
PC  Camera Camera  Microprocessor Microprocessor  Car

39. GUI Cockpit Using awt and swing
is the Client, connects directly to Server
starts a Thread of AxisCamera to get images
adds an AxisCamera to it’s JFrame
puts these 2 connections together to operate as 1
Using awt and swing
has the actual controls
PC  Camera Camera  Microprocessor Microprocessor  Car

40. Relations
PC  Camera Camera  Microprocessor Microprocessor  Car

41. Reuse between different IP cameras
Control Side
Server
only need to change (if necessary) output toggle command (talk about this later)
Video Feed Side
Since MJPEG Streams are not standardized
vary from camera to camera
StreamParser and “AxisCamera” should work for any camera giving a MJPEG Stream as long as you know the boundary
PC  Camera Camera  Microprocessor Microprocessor  Car

42. Implementation Animated Diagram
1. PC to Camera
2. Camera to
Microprocessor
3. Microprocessor to Car
PC  Camera Camera  Microprocessor Microprocessor  Car

43. Implementation Code Review – Part II
Using a microprocessor
Initial coding/design on Dragon12 development board (MC9S12DP256)
has a bus speed of 24MHz
has registers for a Pulse Width Modulator and an Enhanced Capture Timer
Transferred to DragonFly12 (on the car)
Bus speed 48MHz
Fewer ports
PC  Camera Camera  Microprocessor Microprocessor  Car

44. Design: Camera to Microprocessor
Camera’s alarm output can be activated about every 10 ms
Initially ms speed and ms steering in increments of 10 ms (alternating)
Problems encountered:
Camera couldn’t be activated this fast when using the camera’s program for activating the output
Slowed to around 0.1 second when streaming video
Very inconsistent signal

45. Design: Camera to Microprocessor
Changed to four bit signal in the form XXXX
Still takes on the order of 250 ms
to send signal
Solved using Open Office word processor, Google, and beagle
Speed
Steering

46. Design: Camera to Microprocessor
Solution:
Wrote program to test input/output files (GPIOx) to find correct output file
Using ioctl system call, output can be activated in less than 1 ms
Number of signals sent (0-14) determine speed and direction of car
Longer signal sent to mark end of signal sequence

47. # pulses
Steering
Speed 1 -1 2 3 4 5 6 7 8 9 10 11 12 13 14

48. Design: Camera to Microprocessor
Needed
End of signal

49. Implementation Code Review – Part II

50. Implementation Amplifier
PC  Camera Camera  Microprocessor Microprocessor  Car

51. Implementation Animated Diagram
1. PC to Camera
2. Camera to
Microprocessor
3. Microprocessor to Car
PC  Camera Camera  Microprocessor Microprocessor  Car

52. Implementation

53. Design: Microprocessor to Car
Problems putting code onto the DragonFly12
Can’t download code from Codewarrior to DragonFly12
Has to be converted to format suitable for DragonFly12
Used EmbeddedGNU connects to D-Bug12 on Dragon12
Dragon12 connected to DragonFly12
PC  Camera Camera  Microprocessor Microprocessor  Car

54. Design: Microprocessor to Car
EmbeddedGNU

55. DragonFly12 Test Setup

56. Future Development What could we do if we had more time?
Put everything on a separate car with reverse (maybe need to explain why we’re using this car with no reverse in the first place)
With above ability, apply backtracking idea? (application of a stack storing commands of steering and compliments of speed)
Wireless strength monitor?

57. Sales and Marketing You can place order for yours TODAY!
$700…. Next year capstone students?
Cash and Visa
No Checks w/o valid drivers license

58. Special Thanks George Hauser Tosh Kakar Wayne Chu Frank Wornle
Ph.D., University of Rochester
Tosh Kakar
Ph.D., Washington State University
Wayne Chu
Frank Wornle
Cory Stevens
Make-a-wish foundation
Little Caesars
Delivery guys who deliver straight to Morken 212a
Ourselves