1. Wireless Ethernet AT-Rover Group 1 Beau Cook, Barry Greenwood, Danny Martin, Matt Patella, Ian Petrie

2. PDR Overview  Project Ideas  Specification  Design  Analysis of Design  Requirements

3. Project Ideas  Wireless Ethernet Communication  Audio/Video Transmission  Independent Motion  Real Time Control via Remote Terminal  All Terrain

4. Project Ideas  Sensors –Collision, Altimeter, Temperature, Humidity, Compass, Barometer  GPS  Automatic Recharge Capability  Automatic Homing Navigation  LCD Battery Meter  Follow Moving Target  Auto Focus

5. Specifications Overview  Functionality  Physical Characteristics  Cost  Return on Investment  Performance  Limitations

6. Functionality  On-Board Processor (MC68030)  Ethernet Communication –Audio/Visual Transmission –Sensor Data –Navigation Control  Independent Rover Control –Return Home –Preloaded Instructions –Collision/Roll Detection and Avoidance System  I/O Processing –Sensors

7. Functionality (cont’d)  Terminal Software –Drive Control Real Time Control Executable Navigational Programs –Video/Audio Display –Real Time Motion Control Joystick/Pistol-Grip

8. Physical Characteristics  All-Terrain Vehicle –Rugged Design Large Wheels Wide Wheel Base Durable Body Materials –Automatic Collision/Roll Detection –Torque to climb 45º incline  Battery Powered Motors –Quiet and Rechargeable

9. Cost  Embedded System –~$150.00  Rover Body + Drive –~$150.00  Battery Pack –~$60.00  Wireless Ethernet –~$200.00

10. Cost (cont’d)  Video Camera –~$50.00  Microphone –~$5.00  Sensors –~$60.00  Miscellaneous –~$50.00  TOTAL: ~$725

11. Return on Investment  Target Market –Military –Search and Rescue –Bomb Squad –Home Security  Price: ~$1125  Expected Sales –~1000 units  Net Income: –$1.125 million  Profit: $400k

12. Performance/Limits  Ethernet Range –Inside 100ft –Outside 300ft  Bus Speed –Max 12MHz –Limits Video Resolution  Video –MPEG Format –640x480/30fps  Audio –Sample 30kHz/16 bits

13. Performance/Limits  Top Speed –~5 mph  Climbing –45º slope

14. Design Analysis Overview  Hardware/Software Implementation  Technical Decisions  Build or Buy Decisions  Schedule  Fall Back Positions  Equipment  Test Requirements

15. Hardware/Software Implementations  Terminal Assembly –Manual Control Choose from Joystick, Keyboard, or a Custom Controller –Terminal Software G.U.I. with Real Time Control Interface, Programmed Control Routines, Audio/Video/Sensor Output –Wireless Ethernet Interface “ad-hoc” Mode (DHCP)

16. Hardware/Software Implementations (cont’d)  Rover Assembly –Chassis and Drive Train at ~1:25 Scale –System Board: Processor, Memory, I/O Interfaces –Wireless Ethernet and PCI Interface –Camera and USB Interface –Microphone with A to D Conversion –Additional Sensor Inputs and Connecting Hardware

17. System Board Schematic (Rover)

18. I/O Hardware

19. Terminal Schematic

20. Technical Decisions  Motorola 68000 family of processors –M68030: 32bit, 16+ MHz  802.11b ‘Ad-Hoc’ Wireless Ethernet communication with AT-Rover, 2-way data transmission for Rover’s control and sensory information  Four Servos –Two 150 ounce*inch torque motors for rear wheel –Two smaller servos for steering and camera direction

21. Build or Buy Decisions  Custom Built Rover Chassis and Drive Train. Designed for: –System Board Size –Sensor Mounts  System board –Wire wrapped  Possible use of Microcontroller for Rover control

22. Schedule

23. Fall Back Positions  Ethernet Communications Failure –Use of a wired Ethernet tether  Independent Control Programs Failure –Manual control only  Terminal Software Integration Failure –Be able to prove the rover would work –Typed commands at the very least

24. Equipment  Overall –Rover chassis, drive train, suspension, shock suppression mounting for components  Rover system board –processor, memory, system bus, FPGA’s, micro-controller(?).  Sensors –video camera, microphone, proximity sensors, thermometer, battery gauge, etc.

25. Equipment  Wireless Ethernet Cards for both terminal and rover (‘ad hoc’ mode)  Manual control stick for real-time control  Software –terminal/rover real-time interactive control

26. Test Requirements  Micro-processor operation.  System-board operation.  I/O interface operation. –Audio/Video operation –Servo/Motion control  Wireless ethernet operation.  Terminal control operation.  Full H.U.D. type display.  Added sensor capability and integration.

27. Conclusion  Wireless Ethernet AT-Rover  Project Ideas  Above Par Physical Characteristics  Analysis of Design  Thank You!