1. Amr Aldaiel - Andrew Kravitz Katie Noble - Zack Taylor - Alan Yim

2. Overview Objectives and features Block diagram Microcontroller and FPGA Rover assembly and mechanics Peripherals Power distribution system User interface and communication link Risks and contingency plan Division of tasks Time schedule Cost estimation

3. Purpose Remotely operated rover to be used for purposes including: –Home/Business surveillance –Hazardous environment monitoring –Accessing low-light and small space environments –Non-intrusive monitoring of disabled and elderly

4. Features Wireless real-time video with illumination capabilities Remote manual operation via computer- based user interface Temperature sensor LCD display and keypad Wireless network control Automatic patrol mode Smoke detector, CO detector Preliminary Goals Potential Add-ons

5. Block Diagram

6. Microcontroller PIC18F6527 Microcontroller (64 Pin) –Contains 5 on Board PWM 2 PWM to control vehicle movement 1 PWM to control camera servo for vertical aim –Onboard EEPROM, RAM and EnhFl memory –Internal Oscillator to sample wheel position –Max Operating Frequency 40MHz –Upward scalable for additional features

7. FPGA or CPLD Xilinx XCS10 FPGA –Uses On Board Control Pad On Board LCD display LED information lights for debugging On Board Switches and Buttons for debugging

8. Rover Assembly and Mechanics Two independent drive-trains Each drive-train driven by a different DC motor Options –Treads –Left/Right side wheels linked by belts –Front/Back wheels on axles Optical encoder feedback for automated movement (optional)

9. Peripherals Wireless camera High-intensity illumination LEDs Temperature sensor LCD display and keypad Night vision camera capabilities Smoke detector Carbon Monoxide detector Preliminary Goals Potential Add-ons

10. Power Distribution System Tasks: Design and build a Power Management Unit (PMU) Build switching power converters as needed for different parts of the eyeBOT Ensure power is adequately distributed and efficiently managed Ensure switching converters are adequately cooled down by heat-sinks and/or fans

11. Initial PMU Components 1 st Stage Step-Down Converter 2 nd Stage Step-Up/Down Converters Motor Controller and Gate Driver H-bridge Inverter Servo Controller

12. PMU (Power Management Unit)

13. Step-Up/Step-Down DC-to-DC Converter Non-inverting buck-boost Converter ( Could also use a Flyback Converter ):

14. H-Bridge Converter

15. User Interface User will interface with the eyeBOT from a base computer. User will control movement of wheels and camera Programmed using Visual C#

16. Communication Link Camera will communicate wirelessly directly with the base computer All other devices will communicate to the base computer through an RS-232 cable Once working, we will upgrade to wireless communication

17. Risks & Contingency Plan Errors on PCB –Wire wrap prototype Power issues –Can use tethered AC power Visual interface issues –LCD panel rover control Wireless interfacing issues –Can use tethered RS-232 interface

18. Division of Tasks Amr –Power distribution system, LCD/Keypad Andrew –Microcontroller, FPGA Katie –Motors & feedback, peripherals, FPGA Zack –User interface, communication link Alan –Rover assembly & mechanics, motors

19. Time Schedule

20. Cost Estimation ComponentQuantityPrice PerPrice Variable speed DC motor/Gearbox2$65$130 Chassis1$200 Battery/Battery charger1$150 Digital thermometer1$5 Camera (CCD)1$100 High power LEDs10$1$10 FPGA1$120 Servo for camera rotation (vertically)1$40 Keypad/LCD1$25 PIC (Microchip 18F6527)4$5$20 PIC programmer1$160 Demo board1$60 Printed circuit board2$100$200 RS-232 cables1$25 RS-232/RF interface1$150 H-bridges2$25$50 Optical feedback encoders 2 $60$120 Quadrature decoder 2 $40$80 TOTAL$1,680

21. Questions?