1. Multidisciplinary Engineering Senior Design Project 06010: Unmanned Surveillance Vehicle Preliminary Design Review 11.7.05 Team Members: Randy Cicale, Laurence DeWitt, Stephen Ray, Ian Shelley, Christopher Stilson, Stephen Visalli Team Mentor: Dr. Mercin Lukowiak Acknowledgements: Dr. Alan Nye Kate Gleason College of Engineering Rochester Institute of Technology

2. Overview Project Overview Process System Diagram Analysis/Synthesis of Design Challenges/Risks Future Planning

3. Project Overview Original Proposal Sponsor Unmanned ground vehicle GPS guided Photographic surveillance Wireless data transfer 3 Preliminary concepts

4. Process Needs assessment Concept development Feasibility assessment Project schedule/Gantt Chart

5. Needs Assessment Communication Vehicle Remote Computer Operation GPS Vehicle Graphical User Interface Constant Photographic Feedback Navigate through GPS waypoints

6. Key Requirements & Critical Parameters Navigate through waypoints Reliable data transfer Provide photographic feedback Graphic User Interface Package for < $2000 One-hour battery life Use on dry asphalt

9. Overall System Diagram/Block Diagram

11. Analysis & Synthesis of Design Detailed Design Feasibility of Components Bill of Materials

12. Detailed Design

14. Base-plate Material Cost Material Availability Strength Manufacturability Conductivity Finish Aesthetics

15. Finite Element Analysis-Stress

16. FEA - Deflection

17. FEA – Shear Stress

18. Drive-Train Simplicity Low mechanical energy loss Low Cost Easy to Assemble Good Performance

19. User Interface Data processing GPS and Visual Surveillance User Friendly Ability to adapt to users requests

20. Transceiver Transmit/Receive Wireless Data Selection Parameters: Outdoor transmission distance Baud Rate Power consumption Ease of Use I/O protocol Impedance matching FCC Govt. regulations Cost

21. Transceiver Comparison Wi232ZigbeeWiFi Freq902-928 MHz902 MHz or 2.4 GHz2.4 GHz Outdoor Range4000 ft500 ft300-500 ft Indoor Range400 ft30-60 ft50-75 ft Data Rate (Baud).3-152.34 kbps40 kbps1 Mbps Cost<$10~$15>$20

22. Transceiver Radiotronix Wi.232 Developmental Kit Govt. Regs. Impedance match Power performance 3 AAA’s I/O ports RS232 & USB

23. GPS Background Cost Effective/Simplistic compared to INS Module v. Handheld Easy to process data Selection parameters Cost Feasibility Power consumption Accuracy Acquisition time

24. GPS Polstar Technologies PMB-248 Cheap - $26 Low power – 80mA at 5V Quick access time – 2-40sec 12 parallel satellite-tracking channels for fast acquisition and reacquisition

25. FPGA Background Easy to Modify Lots of I/O ports Chip v. Evaluation Board Selection parameters Cost Power consumption Amount of available logic Speed

26. FPGA Xilinx Virtex-4 ML403 Evaluation Board Cost - $495 Donated to the team from Kodak Low power 450 MHz PowerPC Core RS-232 Serial Port, 3 USB Ports (2 Peripheral/1 Host), 64 General Purpose I/O

27. Servo Motors Background Importance 4 Motors “Tank Drive” Selection Parameters Required Voltage RPM Stall Torque Cost

28. Servo Motors cont’d 12V.38 amp Stall Torque: 225.64 oz-in 263 RPM $23.70/ea

29. Wheels Selection Parameters Size (diameter and width) Compatibility w/ Motors Tread pattern Cost

30. Wheels cont’d 5”D x 2.25”W Neoprene “Off-road Tread” design $25/ pair

31. Camera Background Importance Color Not restrict performance Selection Parameters Size Range Battery life Cost

32. Camera cont’d 9V@150mA Range of 1000’ (LoS) 0.8”x0.8”x0.75” Includes base station 60 deg. Viewing angle $99.00

33. BOM & Costs BILL OF MATERIALS P06010Unmanned Surveillance Vehicle PART NUMBER (Assy/PN) PART NAME QTYQTY MFRMODEL #SUPPLIER COST $ OUR $ Sub $ 10BASE PLATE1(IN-HOUSE)06010-001-AMetal Source4825 A2020SERVO MOTOR4LynxmotionPGHM-13Lynxmotion23.7 94.8 A2021 SERVO CONTROL BOARD2LynxmotionHB-04Lynxmotion88.95 177.9 A2022 SERVO FASTENER (pair)2LynxmotionMMT-02Lynxmotion7.95 15.9 A20239V BATTERY2N/A 112 30 FPGA 1XILINX HW-V4- ML403- USAEastman Kodak49500 A4040 TRANSCEIVER 1RADIOTRONIXRK-Wi232DTSRADIOTRONIX24900 A4041AAA BATTERY6N/A 0.5 3 50 CAMERA 1UnknownCM-1202 Spy Camera Specialist99 60 GPS BOARD 1POLSTAR TECHPBM-248 globalsources.co m26 70 WHEEL (pair) 2LynxmotionTRC-02Lynxmotion25 50 80COMPUTER1DELLINSPIRONTEAM100000 90LM317 V REGULATOR1N/ALM317mouser.com111 GrandTotal:494.6

34. Anticipated Design Challenges/Risk Prototype safety Roll-cage Extended Wheel Base Use of parking lot Over-budget Power consumption

35. SD II Project Plan 11.14.05 - Begin Ordering Parts Work throughout winter quarter 4.2.06 - Prototype Complete 4.3.06 to 4.30.06 - Test and Debug 5.15.06 - Prepared for Comprehensive Design Review

36. Summary/Questions Process Needs Feasibility Preliminary design concept Risks/challenges Project planning

37. Backup Slides and References Pugh’s Method for Feasibility GPS Servo Motors Wheels Camera FPGA Transceiver Base Plate Drive-Train

38. GPS Feasibility Evaluate each additional concept against the baseline, score each attribute as: 1 = much worse than baseline concept 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline PMB-248PMB-238EM-401PGM-102 Sufficient Student Skills? 3.0333 Sufficient Lab Equipment? 3.0333 Ease of Use 3.0222 Cost of Materials? 3.0333 Cost of Device? 3.0322 Size 323 Technology Feasibility 3.0212 Accuracy 311 Acquisition Time 3.0312 Power Supply 3.0323 Mean Score 3.02.82.02.4 Normalized Score 100.0%93.3%66.7%80.0%

39. Servo Motor Feasibility

40. Wheel Feasibility

41. Camera Pugh’s Method

42. FPGA Evaluate each additional concept against the baseline, score each attribute as: 1 = much worse than baseline concept 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline Virtex 4ML401 Evual Kit HC12 Micro- controller Virtex 4 ML402 Evual Kit Virtex 4 ML403 Evual Kit 68000 Mirco- Controll er Relative Weight Sufficient Student Skills?3.0233311% Processing Power3.022.5523% Memory3.013515% Aviable Logic3.022.52.7114% I/O Ports3.0133116% Interfacing with extra memory3.0133116% Simulation of Models3.0133114% Sufficient Lab Equipment3.02.533.02.53% Cost3.023323% Cost of components3.0133116% Weighted Score3.01.32.93.11.3 Normalized Score100.0%43.2%97.3%105.0 % 42.3%

43. Transceiver Feasibility

44. Base-Plate Feasibility Evaluate each additional concept against the baseline, score each attribute as: 1 = much worse than baseline concept 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline AluminumSteelCarbonFiberWood Material Availability? 3.0314 Strength? 341 Finish? 242 Easy to process? 3.0324 Time to process? 3.0323 Aesthetic appeal? 3.0251 Cost of material? 3.0415 Mean Score 3.02.92.72.9 Normalized Score 100.0%95.2%90.5%95.2%

45. Drive-Train Feasibility Evaluate each additional concept against the baseline, score each attribute as: 1 = much worse than baseline concept 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline 4 servos Servos In 2 CornersChainDrivenBelt Driven Driven2 Caster s Skill to manufacture? 3.03113 Access to necessary tooling? 3.03223 Cost of Materials? 3.02223 Cost of Purchased Components? 3.04333 Time to assemble? 3.04223 Time to order parts? 3.03223 Time to manufacture parts? 3.02223 Multiple Technologies Needed? 3.03333 Back-up with engineering calculations? 3.02123 Performance? 2221 Ability to be used on various surfaces? 3.02331 Mean Score 3.02.72.12.22.6 Normalized Score 100.0%90.9%69%72.7%87.9%