1. The Minerva Project Jeremiah F. Cowden Carolin L. Karim Jason H. Kummerl Rachel A. Schaefer Matthew P. Spahr Final Presentation December 12, 2003 CSE 480 Senior Design Dr. Richard E. Haskell

2. The Minerva Project Outline – Part I Part I – Overview Introduction Automated Highway Systems Top-Level Design Cost Analysis Part II – Components Part III – Design Part IV – Conclusion

3. The Minerva Project Introduction Minerva “Roman goddess of education and science” Project definition Create a sophomore design class Students from all engineering disciplines Prerequisites CSE 141 – “Computer Problem Solving in Engineering and Computer Science” using Visual Basic CSE 171 – “Introduction to Digital Logic and Microprocessors” A sample project—design a car Path detection Collision avoidance

4. The Minerva Project Top-Level Design Pre-built car from Radio Shack OOPic Board Magnevation H-Bridge Original Motor Futaba S3003 Sharp GP2D12 Fairchild QRB1114

5. The Minerva Project Cost Analysis 1 R/C car$20 1 OOPic board $79 1 Magnevation Dual PWM 3 Amp LT H-Bridge$75 1 Futaba S3003 servo$10 5 Fairchild QRB1114 sensors @ 89¢ $4.45 1 Sharp GP2D12 sensor$8.25 2 rods @ $2 $4 1 set of springs $2 1 Breadboard$1 3 Battery holders @ $1.66 $5 3 9V batteries @ $1.33 $4 16 AA batteries @ 37¢ $6 Miscellaneous$5 Total $222.70 Over-Budget $22.70

6. The Minerva Project Outline – Part II Part I – Overview Part II – Components OOPic oServoX Object oDCMotor Object Part III – Design Part IV – Conclusion

7. The Minerva Project OOPic

8. The Minerva Project OOPic (cont.) Language Options—objects are the same between them Visual Basic Java C

9. The Minerva Project OOPic (cont.) 96 Bytes for firmware objects

10. The Minerva Project oServoX Object Included in the board firmware Uses one digital I/O line Capable of positioning an RC servo anywhere within its 180º rotational span Range -64 to +63 where 0 is center Sends an RC servo repeated PWM signals until it reaches the specified position

11. The Minerva Project oServoX Object (cont.) IOLine property Specifies which of 31 I/O lines is to be used Must be set before the Operate property is set to 1 Operate property Set to 1 to continuously output PWM control pulse to servo Results in servo holding position specified by the Value property Set to 0, the object sets I/O line to 0 volts Results in servo not holding a position, allowing it to be changed manually

12. The Minerva Project oServoX Object (cont.) Offset property Sets the value of the center of the servo An offset of 0 allows positioning at values -64 to +63 An offset of 64 allows positioning at values 0 to +127 An offset of -64 allows positioning at values -128 to -1 Value property Range -128 to +127 Specifies position of the servo InvertOut property Specifies if output pulse is reversed

13. The Minerva Project oDCMotor Object Included in the board firmware Uses three digital I/O lines to control a DC motor Speed – IOLineP Braking – IOLineB Direction – IOLineD

14. The Minerva Project oDCMotor Object (cont.) Value property Range of -128 to + 127 or 0 to 255 When Unsigned bit is 0, Value has range of -128 to + 127, When Unsigned bit is 1, Value has range of 0 to 255 Direction property Value of 0 or 1, setting the direction to forward or reverse If the InvertOutD property is 1, direction is opposite Brake property Value of 0 or 1, turning the brake off and on If the InvertOutB property is 1, direction is opposite

15. The Minerva Project Outline – Part III Part I – Overview Part II – Components Part III – Design Hardware Design Software Design Virtual Circuits Virtual Circuits – Code Part IV – Conclusion

16. The Minerva Project Overview

17. The Minerva Project Hardware Design

18. The Minerva Project Controller Boards OOPic Controller Board H-BridgeSensor Breadboard

19. The Minerva Project Controller Boards (cont.) OOPic Controller Board Sensor Breadboard H-Bridge

20. The Minerva Project Sensor Rack Extra 8AA Batteries Distance Sensor Line Sensor Assembly

21. The Minerva Project Under Body Extra 8AA Batteries 9V holders for OOPic

22. The Minerva Project Software Design Rapid prototyping Servo Motor Distance sensor Line sensors Sluggish response with looping Quick response with virtual circuits

23. The Minerva Project Virtual Circuits

24. The Minerva Project Virtual Circuit – Code 1. mSensor_C.Input.Link( C ) 2. mSensor_C.Output.Link( Sensor_Value ) 3. gSensor_C.Input1.Link( Sensor_C ) 4. gSensor_C.Output.Link( mSensor_C.Operate ) 5. gSensor_C.Operate = cvTrue 6. Index_Servo.Array.Link( Buff_Servo ) 7. Index_Servo.Index.Link( Sensor_Value ) 8. Index_Servo.Unit.Link( Servo.Value ) 9. Index_Servo.Operate = cvTrue

25. The Minerva Project Virtual Circuit – Code (cont.) Buff_Servo.Location = R2 Buff_Servo.Value = 64 + 20 Buff_Servo.Location = R1 Buff_Servo.Value = 64 + 10 Buff_Servo.Location = C Buff_Servo.Value = 64 Buff_Servo.Location = L1 Buff_Servo.Value = 64 - 10 Buff_Servo.Location = L2 Buff_Servo.Value = 64 - 20

26. The Minerva Project Outline – Part IV Part I – Overview Part II – Components Part III – Design Part IV – Conclusion Overall Performance Picture of car Lessons learned References

27. The Minerva Project Overall Performance Follows a straight line Follows a curved line Follows a 90º turn Slows down while turning Stops to avoid objects

28. The Minerva Project Picture of Car

29. The Minerva Project Real Picture of Car

30. The Minerva Project Lessons Learned Jason has zero short term memory and is insane Carolin likes Corona Rachel is growing Don’t let other groups see your project Rachel's attendance to class 1% - Rest of group 99% Great group dynamic Class should have been held at Mongolian Barbeque with Stacia or Diana Matt never wears a coat Jeremiah learned to be a player! (3) Loudest & funniest group Home Depot is the best place for RC car building? Our car eats batteries up “Yummy Style” OOPic is easier than the rest of the boards KISS – Keep It Simple, Stupid SEB 133 – Great for meeting guys & gals CSE 480 – BEST CLASS EVER!

31. The Minerva Project Real Lessons Learned Rechargeable batteries are cheaper in the long run Single distance sensor is not adequate The more line sensors the more accurate the response 0.2” is almost impossible to achieve after running into a wall

32. The Minerva Project References http://www.wikipedia.org/wiki/Automated_highway_systems http://www.aaroads.com/high-priority/corr16.html http://www.path.berkeley.edu/PATH/Publications/Media/FactSheet/pprogram.pdf http://www.berkeley.edu/news/media/releases/97legacy/DEMO_97.html http://future.newsday.com/10/fmon1011.htm http://www.itsonline.com/ahsra1.html http://www.ivsource.net/archivep/2000/aug/a000831_chauffeur.html http://faculty.washington.edu/jbs/itrans/bishopahs.htm http://www.cert.ucr.edu/research/project.asp?project=97 http://electronickits.com/kit/complete/remote/ck1900.htm http://www.oopic.com http://www.oopic.com/servo.htm http://www.dprg.org/tutorials/1998-04a/ http://www.magnevation.com/descriptionpwmx2a.htm

33. The Minerva Project HAPPY HOLIDAYS!!!