1. TBD Control Commands (via Ethernet) Video Feed, Sensing Data (via Ethernet) Jay Brasch Kirk Nichols Daniel Kopelove Katrina Bossert

3. Solution Create a vehicle to assist emergency responders in identifying hazardous materials. – Low Cost – Remotely Operable – Intuitive interface

4. Project Overview Create a sensing vehicle with the following functionality – Natural gas sensor – Geiger counter – Streaming video Control various aspects of the vehicle – Orientation and position of vehicle – Yaw/Pitch control of camera (two-axis control)

5. Introducing SCAB On-Vehicle Control Board ARM-7 LPC2214 Processor – 2 UART ports – 2 I 2 C ports – SPI ports – PWM ports – Multiple external interrupt pins – Multiple A/D converters Offers Ethernet, servo, DC motor control

6. Sensors Deliverable – GCK-05 Geiger Counter – Micropel75 combustible gas sensor %lel – Ethernet camera Extensions – MaxSonar range detector – HMC6352 2-axis compass – Vex Robotics optical shaft encoder

8. Ethernet Control Linksys router configured as access point. – DD-WRT ENC28J60 – Integrated Ethernet Controller and Drive Magnetics with RJ-45 connector (CAT5 cabling) – SPI I/F to ARM microcontroller running at 25MHz – 64kB ram for tx/rx buffers – Link status LEDs and link connectivity User-end is implemented in LabVIEW – May require POSIX TCP server

9. User Interface Deliverable – LabVIEW GUI – Keyboard input Extensions – Vuzix iwear VR920 HUD – Joystick control

10. Testing/Debugging SCAB – UART Control – JTAG Support – Various Debugging Ports – Battery Charge Profiling Network Reliability/ Dynamic IP Handling Black box/white box approach

11. Schedule

12. HUD Responsibilities Kirk Katrina Jay Dan Ethernet Communication Router SCAB Vehicle LabVIEW

13. Risk Analysis and Mitigation Ethernet driver doesn’t work, unable to port TCP/IP stack to ARM7 score: 25 – RS232 to IEEE 802.3 converter – Really long cable LabVIEW network connectivity score: 16 – Embedded C program – Stand alone C program populating flat-file DC Motor Control (currently intermittent reliability) score: 8 – Off-the-shelf solution integration VR goggles low fidelity score: 4 – Fall back to keyboard and monitor based control

14. Additives Kirk – VR Goggles Jay – USB Joystick Katrina – ChemFET Dan – Audio

15. CDR Milestone Deliverables – Geiger counter fully functional – SCAB rev c populated and under testing – LabVIEW GUI menu control Roadblocks – Appropriate LabVIEW modules

16. Milestone 1 Deliverables – SCAB rev c installed on vehicle Controlling motors Controlling camera – Embed video stream in LabVIEW – Router configured as access point Roadblocks – How well can LabVIEW interface with Ethernet? – Is video feed sufficiently fast to steer remotely? – Network Latency

17. Milestone 2 Deliverables – SCAB rev c has Ethernet enabled interface Transmits telemetry data to LabVIEW interface – LabVIEW has complementary Ethernet interface Transmits control commands to SCAB – Vehicle can run 1 hour from battery Roadblocks – TBD

18. Budget In Ownership SCAB rev b Vuzix iwear VR920 Geiger Counter Traxxas Chassis In Ownership SCAB rev b Vuzix iwear VR920 Geiger Counter Traxxas Chassis HMC6352 Digital Compass Additional Materials SCAB rev c60 SCAB rev d60 Misc. Parts50 Webcam50 Used Laptop400 USB Joystick30 Chassis Modification35 Micropel75 Gas Sensor125 Battery30 Total840

19. Questions?

20. Schedule

21. System Diagram NXP 2214 ADC (2) Gas Sensor (Range Sensors) Pulse (2) Geiger (Velocity) (Compass) I 2 C (3) Sensing Ports Olimex Port? DC Motor Servo (3) UART (5) + ATF750 CPLD System Information Vehicle Control Battery Level Debug Port Ethernet Base Station Linux Laptop LabVIEW Vuzix HUD USB Joystick (Peripherals)

22. Functional requirements Definitions: vehicle: an RC car mechanical platform The vehicle must have a wireless communication link utilizing 802.11a/b/g. The vehicle must have a video source (802.3 webcam) The vehicle must have a controller capable of manipulating: 1. a motor attached to the drive shaft of the vehicle. 2. a steering servo motor. 3. a server motor for the webcam orientation 1 dof 4. capturing at least 5 serial (rs-232) ports 5. capturing at least 3 I2C ports 6. capturing at least 2 A/D ports 7. capturing at least 2 interrupt driven ports 8. debug/program interface (JTAG) port 9. a sensor for battery capacity The vehicle must have an independent power source (battery) that can power the vehicle under "normal operation" for one hour. The vehicle velocity must not exceed 19.3 kph. The vehicle minimum velocity must not exceed 4.82 kph. The vehicle must be able to sense combustible gases within 10% of the LEL The vehicle must be able to sense relative radioactivity. The vehicle is capable of traversing any terrain found in a commercial building (carpet, tile, etc) The vehicle must have a magnetometer capable of detecting magnetic bearing within 2 degrees. The vehicle must be able to sense proximity of walls (at 5m) in cardinality (NESW) The vehicle must be able to sense it's velocity within 1 kph (give the operator general feedback not exact position data) A possible addition a custom design mold-fungus chemical sensor. The vehicle must support the tilt orientation as a second dof for the webcam. Definition: operator base station: a set of hardware and software able to communicate with the vehicle The operator base station must be able to transmit control data to the vehicle The operator base stations must be able to receive video and sensory data from the vehicle The obs must be capable of receiving 320x240 15 frames/s (subject to the link quality and bandwidth of the Wi-Fi network) Sensory data must be superimposed on the video stream by the obs. Keyboard control of the vehicle will be guaranteed by the obs. Keyboard control of the webcam orientation Usb joystick control of the vehicle will be guaranteed by the obs. vga goggles will visually present the video feed Goggle pan data will be used to control the 1 dof of the webcam via the obs. To insure portability the obs will be developed for a laptop.