1. ECE 477 Final Presentation Group 1  Spring 2005 Zeeshan Nathan Nakul Andrew FIRE Bot

2. Outline Project overviewProject overview Block diagramBlock diagram Professional componentsProfessional components Design componentsDesign components Success criteria demonstrationsSuccess criteria demonstrations Individual contributionsIndividual contributions Project summaryProject summary Questions / discussionQuestions / discussion

3. Project Overview FIREbot is a fully autonomous robot intended to protect a home or small building from fires.FIREbot is a fully autonomous robot intended to protect a home or small building from fires. Patrols an indoor area or waits passively while searching for flamesPatrols an indoor area or waits passively while searching for flames Capable of locating, approaching, and extinguishing flamesCapable of locating, approaching, and extinguishing flames Uses a standard household fire extinguisher and an easily rechargeable batteryUses a standard household fire extinguisher and an easily rechargeable battery Features an easy and convenient user interface to let you select its mode of operation and see what its currently doingFeatures an easy and convenient user interface to let you select its mode of operation and see what its currently doing

4. Block Diagram Power Supply Universal Flame Detector Wide Angle Flame Detectors Narrow Angle Flame Detectors Distance Sensors Mode Switch Siren Sensor Platform Servo Microcontroller Motor Drivers LCD Output Debug Port Extinguisher Trigger Servo

5. Professional Components Constraint analysis and component selection rationaleConstraint analysis and component selection rationale Patent liability analysisPatent liability analysis Reliability and safety analysisReliability and safety analysis Ethical and environmental impact analysisEthical and environmental impact analysis

6. Constraint Analysis Mechanical/Structural ConstraintsMechanical/Structural Constraints –Capable of carrying and triggering fire extinguisher –Capable of positioning all sensors to receive necessary data –Capable of being driven by small DC motors –Capable of carrying and protecting electronics

7. Constraint Analysis Electrical ConstraintsElectrical Constraints –Powered by On-board battery –4 Supply Rails –Must be robust and power-efficient –Microcontroller receives all inputs and drives all outputs –Electronics to interface to each input sensor and each output device

8. Constraint Analysis Software ConstraintsSoftware Constraints –Software is interrupt-driven to allow real- time responses –Control state machines to handle high- level intelligence –Low-level state machines to control all hardware modules

9. Patent Liability Analysis Patents exist forPatents exist for –IR Fire detection system –IR Obstacle avoidance system –“Automated Fire Protection System” “Designed for the protection of naval vessels from the danger exhibited by ordnances exposed to heat in the event of a fire.”

10. Reliability/Safety Analysis Microcontroller analysisMicrocontroller analysis –MTTF = 1.23 MBR160 Switching supply schotkey diodesMBR160 Switching supply schotkey diodes –MTTF = 2.2 5v linear regulator5v linear regulator –MTTF = 1.88 –Reduced by adding large heat sink to dissipate extra heat

11. Ethical/Environmental Analysis In the current version of production, there are no warning labels anywhere on the robot. No safeties mechanisms present on the robot other than fuses. If the fire is particularly large, the robot may not be capable of putting it out. All rechargeable batteries pose a potential environmental hazard due to the presence of lead-acid. All printed PCBs have lead as well.

12. Design Components Packaging design considerationsPackaging design considerations Schematic design considerationsSchematic design considerations PCB layout design considerationsPCB layout design considerations Software design considerationsSoftware design considerations

13. Packaging Design Level 2 bolt holes Extinguisher strap mounting holes Motor mounting holes User interface mounting holes Servo mounting holes Siren mounting holes Base – top view

14. Packaging Design Level 2 mounting holes Tower mounting holes UVtron mounting holes Level 2 – top view Tower – sweeping turntable Tower – narrow angle sensor

15. Packaging Design Angular bracket RS232 debug interface Mode selection switch Power switch 4x20 LCD display

16. Schematic Design Power supplyPower supply –Noise isolation accomplished with four power rails and two ground rails Sensor interface circuitsSensor interface circuits –Signal amplification required for low current-output photodiodes –Low noise requirements for most A/D inputs Shift registersShift registers –Reduce microcontroller I/O pins –Used for LCD and DC motor control outputs Motor interface circuitsMotor interface circuits –H-bridges for PWM motor control –Dedicated power rail for servos

17. PCB Layout Design

18. AT Mega32 Digital Switching Power Supply Servo Switching Power Supply Serial Debug Port Siren Analog Flame & Proximity Sensors ` Servo Motor Drivers 12V Switch 5V Linear Regulator DC Motor H-Bridges LCD Display Turntable Mounted PCB

19. Software Design Code size: 14KBCode size: 14KB Software is heavily modularizedSoftware is heavily modularized All modules are interrupt driven state machinesAll modules are interrupt driven state machines Software hierarchically organized into master control, mode control, and hardware interface control modulesSoftware hierarchically organized into master control, mode control, and hardware interface control modules Organized development environment with a revision control systemOrganized development environment with a revision control system

20. Software Design Master Software Mode Control Software Hardware-Interface Software Hardware

21. Software Design Master software - top level state machineMaster software - top level state machine Mode control softwareMode control software –One Eye Open Mode –Patrol Mode –Find-the-Fire –Approach –Extinguish –Debug interface

22. Software Design Hardware-Interface softwareHardware-Interface software –Universal flame detector –Drive motors –Obstacle/Proximity sensors –Narrow angle flame detector –Scanner & trigger servos –Wide angle flame detector –ADC controller –LCD interface –UART (debug) interface

23. Success Criteria Demonstrations Ability for the software to maneuver the robot on an arbitrary indoor surface, avoiding walls or other objects while maneuvering.Ability for the software to maneuver the robot on an arbitrary indoor surface, avoiding walls or other objects while maneuvering.

24. Success Criteria Demonstrations

25. Ability to interface the microcontroller with an LCD and display state information on the screen.Ability to interface the microcontroller with an LCD and display state information on the screen.

26. Success Criteria Demonstrations

27. Ability to detect a nearby fire with minimal false positives (from non-flame heat sources) and determine the fire’s position relative to the robot.Ability to detect a nearby fire with minimal false positives (from non-flame heat sources) and determine the fire’s position relative to the robot. Ability to maneuver the robot into position to extinguish a fire based on data from the sensors.Ability to maneuver the robot into position to extinguish a fire based on data from the sensors.

28. Success Criteria Demonstrations

29. Ability to activate a fire extinguisher to extinguish a fire when the robot is already in the correct position.Ability to activate a fire extinguisher to extinguish a fire when the robot is already in the correct position.

30. Success Criteria Demonstrations

31. Individual Contributions Team Leader – Nathan AinsworthTeam Leader – Nathan Ainsworth Team Member 2 – Nakul JeirathTeam Member 2 – Nakul Jeirath Team Member 3 – M. Zeeshan KhanTeam Member 3 – M. Zeeshan Khan Team Member 4 – Andrew PennerTeam Member 4 – Andrew Penner

32. Team Leader – Nathan Ainsworth Coordinated Efforts of all team members (“Supervised”)Coordinated Efforts of all team members (“Supervised”) Performed overall Systems Engineering of Fire-Finding ProcessesPerformed overall Systems Engineering of Fire-Finding Processes Developed many blocks of the schematicsDeveloped many blocks of the schematics Developed overall software structureDeveloped overall software structure Developed many software blocksDeveloped many software blocks

33. Member 2 – Nakul Jeirath Designed LCD circuitryDesigned LCD circuitry Wrote software for modules:Wrote software for modules: –Wide angle flame detector –Patrol mode –Find the fire state PCB layoutPCB layout PCB PopulationPCB Population Mechanical structure designMechanical structure design

34. Member 3 – Zeeshan Khan Wrote software for modules:Wrote software for modules: – UART interface – Obstacle detection – ADC Software debuggingSoftware debugging Populated PCBPopulated PCB Team webmasterTeam webmaster Managed CVS archivesManaged CVS archives

35. Member 4 – Andrew Penner Designed power suppliesDesigned power supplies PCB LayoutPCB Layout PCB PopulationPCB Population Mechanical structure designMechanical structure design Hardware testingHardware testing Software debuggingSoftware debugging

36. Project Summary We learned the importance of… modularized softwaremodularized software capable debug interfacecapable debug interface planning top-down & implementing bottom-upplanning top-down & implementing bottom-up maintaining a well organized development environmentmaintaining a well organized development environment –revision control system –standards in software & schematic design strong teamwork skillsstrong teamwork skills

37. Project Summary Suggestions for version 2 Choose a different narrow-angle sensorChoose a different narrow-angle sensor Use more than one universal flame detectorUse more than one universal flame detector Add self-charging capabilityAdd self-charging capability Choose distance sensors with digital output to reduce noiseChoose distance sensors with digital output to reduce noise Use a more sophisticated approach algorithmUse a more sophisticated approach algorithm Upgrade microcontroller for increased flexibilityUpgrade microcontroller for increased flexibility Correctly implement power shutdown featuresCorrectly implement power shutdown features Upgrade packaging to better protect electronicsUpgrade packaging to better protect electronics Use a CO 2 fire extinguisherUse a CO 2 fire extinguisher Integrate fly wires into PCB layoutIntegrate fly wires into PCB layout

38. Questions / Discussion