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

2. Outline Project SummaryProject Summary Review of Previous WorkReview of Previous Work PatentsPatents Project DescriptionProject Description Data SheetData Sheet Equipment and PartsEquipment and Parts Preliminary ResearchPreliminary Research ScheduleSchedule Division of LaborDivision of Labor

3. 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.

4. Previous Work 20022002 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 2001 1. Create Cheaper version of Telerobotics 2001 2. Upgradeable and expandable in the future 2. Upgradeable and expandable in the future

5. Patents The following patents were collected from the United States Patent and Trademark Office searchable on-line database using the keywords wireless, network, 802.11, web, camera, USB camera, PCMCIA, and hard disk United States Patent and Trademark OfficeUnited States Patent and Trademark Office 6,484,029 Apparatus and methods for adapting mobile unit to wireless LAN6,484,029 Apparatus and methods for adapting mobile unit to wireless LAN 6,453,159 Multi-level encryption system for wireless network6,453,159 Multi-level encryption system for wireless network 6,486,832 Direction-agile antenna system for wireless communications6,486,832 Direction-agile antenna system for wireless communications 6,434,132 Wireless LAN for reestablishing wireless links between hosts according to monitored6,434,132 Wireless LAN for reestablishing wireless links between hosts according to monitored

6. Patents 5,982,807 High data rate spread spectrum transceiver and associated methods5,982,807 High data rate spread spectrum transceiver and associated methods 6,005,613 Multi-mode digital camera with computer interface using data packets6,005,613 Multi-mode digital camera with computer interface using data packets 6,484,308 System and method for ensuring data integrity on a removable hard drive6,484,308 System and method for ensuring data integrity on a removable hard drive 6,292,863 PC card6,292,863 PC card 6,336,142 Methods and apparatus for downloading data between an information processing device and an external device via a wireless communications technique6,336,142 Methods and apparatus for downloading data between an information processing device and an external device via a wireless communications technique 5,619,396 Modular PCMCIA card5,619,396 Modular PCMCIA card 5,231,693 Telerobotics5,231,693 Telerobotics

7. Standards Internet Standards Most internet standards are documented in Internet Request For Comments which are indexed at Ohio State University. Java is trademarked by Sun Computer Systems. Most internet standards are documented in Internet Request For Comments which are indexed at Ohio State University. Java is trademarked by Sun Computer Systems.Ohio State UniversitySun Computer SystemsOhio State UniversitySun Computer Systems RFC 791 - Internet Protocol (IP) RFC 791 - Internet Protocol (IP) RFC 793 - Transmission Control Protocol (TCP) RFC 793 - Transmission Control Protocol (TCP) RFC 826 - An Ethernet Address Resolution Protocol (ARP) RFC 826 - An Ethernet Address Resolution Protocol (ARP) RFC 893 - Internet Protocol on Ethernet Networks RFC 893 - Internet Protocol on Ethernet Networks RFC 1866 - Hypertext Markup Language (HTML/2.0) RFC 1866 - Hypertext Markup Language (HTML/2.0) RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0) RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0) USB Standard is found from USB.org, the document is part of a zip file that also includes information on the newest standard USB 2.0.USB Standard is found from USB.org, the document is part of a zip file that also includes information on the newest standard USB 2.0.USB.org

8. Functional Description Wait mode –Wait mode – All systems are powered, except the motors.All systems are powered, except the motors. The CPU monitors the wireless card for network activityThe CPU monitors the wireless card for network activity The last image captured from the camera is displayed to the user.The last image captured from the camera is displayed to the user. Web page accessible to userWeb page accessible to user Battery Status is monitoredBattery Status is monitored Sleep mode –Sleep mode – The sub-systems are powered down except for the CPU and the wireless network card.The sub-systems are powered down except for the CPU and the wireless network card. CPU runs in a reduced power mode.CPU runs in a reduced power mode. Web page accessibleWeb page accessible Battery Status is monitored.Battery Status is monitored. Rover remains in sleep mode until signaled by the user.Rover remains in sleep mode until signaled by the user.

9. Functional Description Low battery mode –Low battery mode – Battery drops below 10% of chargeBattery drops below 10% of charge Email sent to Dr. Malinowski requesting a chargeEmail sent to Dr. Malinowski requesting a charge Rover shuts down all components.Rover shuts down all components. Charge mode –Charge mode – Rover continues to charge until power button is pressedRover continues to charge until power button is pressed Stays in this mode until battery level reaches 100%Stays in this mode until battery level reaches 100% User mode –User mode – All Systems poweredAll Systems powered Distance and Direction ControlDistance and Direction Control Web Page accessible to userWeb Page accessible to user Image capture and displayImage capture and display Battery Status is MonitoredBattery Status is Monitored

10. Functional Description

11. System Block Diagram

12. Software Flow Chart High Level SoftwareHigh Level Software Rover ControlRover Control

13. Software Flow Chart High Level SoftwareHigh Level Software Image Retrieval/DisplayImage Retrieval/Display

14. Software Flow Chart Low Level SoftwareLow Level Software Motor ControlMotor Control

15. Software Flow Chart Low Level SoftwareLow Level Software Object DetectionObject Detection

16. Software Flow Chart Low Level SoftwareLow Level Software Battery Voltage LevelBattery Voltage Level

17. Preliminary Research Hard drives – Standard IDE Large power consumption Flash Card Very small power consumption Not large enough to run Linux PCMCIA Good power consumption Large enough to run Linux

18. Preliminary Research Wireless Cards – Dell Truemobile Lowest power consumption Not compatible with Linux Linksys Good power consumption Compatible with Linux Cisco Higher power consumption Compatible with Linux

19. Preliminary Research Computer Platform Format PC/104 PC/104 PC/104+ PC/104+ SBC SBCProcessors Intel PIII ULV Intel PIII ULV Transmeta Crusoe Processor Transmeta Crusoe Processor National Semiconductor Geode Processor National Semiconductor Geode Processor Boot Options Disk-on-Chip Disk-on-Chip USB USB Floppy Floppy Expansion Options PCMCIASerial

20. Preliminary Research Format Differences: PC/104 – Based on a ISA bus expansion – supports 8bit and 16bit devices PC/104+ Based on a PCI bus expansion – supports 16bit and 32bit devices SBC – has no bus expansion, usually

21. Preliminary Research Processors: Intel power Intel power highest power in sleep mode >1.0watts highest power in sleep mode >1.0watts Transmeta Crusoe power Transmeta Crusoe power lowest power in sleep mode <.05 Watts lowest power in sleep mode <.05 Watts National Semiconductor power National Semiconductor power second lowest >.05Watts second lowest >.05Watts Speed: Intel – 450Mhz-1.0Ghz Intel – 450Mhz-1.0Ghz Transmeta 300Mhz – 700Mhz Transmeta 300Mhz – 700Mhz National Semiconductor 200Mhz – 333Mhz National Semiconductor 200Mhz – 333Mhz

22. Preliminary Research Battery Report:Battery Report: A battery with the highest amp hours and lowest weight must be selected A battery with the highest amp hours and lowest weight must be selected After a meeting with the project advisors, the decision was made to use a 12V battery supply, primarily, the batteries used in the Robotic Platform Design. After a meeting with the project advisors, the decision was made to use a 12V battery supply, primarily, the batteries used in the Robotic Platform Design. Trickle charge applies a continuous constant low current to maintain charge Trickle charge applies a continuous constant low current to maintain charge A deep discharge will shorten the life and partial discharges will extend life. A deep discharge will shorten the life and partial discharges will extend life.

23. Preliminary Research DC Motor Report: Researched a 5V motor, but later the decision was made to use a 12V motor. Researched a 5V motor, but later the decision was made to use a 12V motor. Pittman motors will be used for the Mars Rover. Pittman motors will be used for the Mars Rover. major factor in determining which motor that will be used is the value of the load current. major factor in determining which motor that will be used is the value of the load current.

24. Power Calculations Power Consumption for Sleep Mode: PC104 computer.026A PC104 PCMCIA module.07A PCMCIA Hard drive.015A PCMCIA Wireless Card.009A EMAC.045A + _____ + _____ Total.165A 24hrs * 7days = 168hrs 168hrs *.165A = 27.72 Ah @ 5V 27.72Ah * 5V = 138.6Wh Using 2 - 12 Volt, 7.2Ah batteries: 12V * 7.2Ah * 2 = 172.8Wh available

25. Power Calculations Power Consumption for User Mode: PC104 computer.8A PC104 PCMCIA module.07A PCMCIA Hard drive.4A PCMCIA Wireless Card.285A EMAC.045A Camera.1A 2 Polaroid Ultrasonic 6500.2066A + ______ + ______ Total1.9066A

26. Power Calculations Pittman GM9236 motors:Pittman GM9236 motors: Total with motors1.9066A + 16.9A * 2 = 35.7ATotal with motors1.9066A + 16.9A * 2 = 35.7A User is connected 3% of the time (or 5 hrs out of a week), then power consumption is as follows:User is connected 3% of the time (or 5 hrs out of a week), then power consumption is as follows: (1.9066A * 3% +.165A * 97%) * 168 * 5V= 182.48Wh without motors(1.9066A * 3% +.165A * 97%) * 168 * 5V= 182.48Wh without motors ((33.8A*12V+1.9066A*5V)*3% +.165A*97%*5V)*168hrs = 2226.7Wh((33.8A*12V+1.9066A*5V)*3% +.165A*97%*5V)*168hrs = 2226.7Wh With Pittman GM9X12 motors which pull 4.56A @ 12V:With Pittman GM9X12 motors which pull 4.56A @ 12V: ((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =726.8Wh((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =726.8Wh To meet the requirements to run for 7 days without a recharge using 2 – 12V @ 7.2Ah batteries, the user would only be able to run the rover for 1.5hrs a weekTo meet the requirements to run for 7 days without a recharge using 2 – 12V @ 7.2Ah batteries, the user would only be able to run the rover for 1.5hrs a week ((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =179.1Wh((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =179.1Wh

27. Data Sheet Specifications Turning accuracy - ± 5° for an individual turn command Driving accuracy - ± 5cm and ± 2° for a 100cm command Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT connection Weight – ~28lbs Battery life – 7 days without a recharge if user connects <= 1.5 hours a week Top speed – 10cm/s Speed range – 1 cm/s to 10 cm/s Acoustic sensors – Time between transmit signals – 10 seconds Farthest object detection – 200cm Closest object detection – 50cm

28. 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 – 802.11b Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H) Battery – 2 - 12V @ 7.2Ah Wheels – 5cm x 16cm (Width x Diameter)

29. Parts and Price List Equipment List for Mars Rover PartQty.WebsiteManufacturerLocation of VendorPart #Price 5 Gb PC/MCIA Harddrive1www.pricewatch.comToshibawww.legendmicro.com HDD1232CZP41 002$191.00 128 Mb RAM1www.pricewatch.comInfineonwww.18004memory.com LG1064U/064/G 3VAC$14.20 PC/MCIA Wireless Card1www.pricewatch.comLogictechwww.legendmicro.comDL1150$69.00 USB Webcam1www.pricewatch.comLogictechwww.enpc.com961137-0403$16.00 PC104+ 200MHz w/ USB1 www.square1industrie s.comNational Semi www.square1industries.co mCM-589$399.00 Dual PC/MCIA Adaptor1 Pittman DC Motor #92362 Bradley Owned Pittmanwww.pittmannet.com 12V 35Ah Battery1www.batterymart.com SLA-12V35$42.95 6V 42Ah Battery1www.batterymart.com SLA-6V42$39.95 The Energy Conservation Laboratory and Acoustic Laboratory Room will be used to construct the project. $772.10

30. Laboratory WeekProject 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

31. Division of Labor Dan DunnColin SheaEric Spiller Assembly CodeJavaHardware - Motor Speed - Image Capture- DC Motors - Wheel Sensors- Rover Controls- Platform Construction - Battery Charge Level- Serial Communication- H-bridge/Motor Driver -Serial Connection -Acoustics Sensors Linux LinuxLinux

32. Questions and Answers