1. MSD P07302Design Review1 Motor Controller Subsystem MSD P07302 Project Sponsor: KGCOE Project Members: D. ShenoyProject Manager S. TallauSoftware Design M. OesterlingHardware Design L. DeSnotsSignal Conditioning A. KaraniHardware Layout R. GuptaPower Design R. CooperHardware Design

2. MSD P07302Design Review2 Outline:  Overview  Design  Budget  Schedule  Q & A

3. MSD P07302Design Review3 Project Description: - An open source motor controller that is Scalable - Scalable: support for various vehicle platforms Reusable - Reusable: modular design Programmable - Programmable: reconfigurable functionality Reliable - Reliable - Must be able to sense, control and drive several motors

4. MSD P07302Design Review4 Product Specifications: - PC104 form factor - Maximum CPU usage of 25% - 12V DC power supply - One hour run-time - Scalable motor controller - 10, 100, 1000 kg platforms 90 mm 96 mm

5. MSD P07302Design Review5 Project Applications: - Foundation for future MSD projects - US First Robotics Competition - www.usfirst.orgwww.usfirst.org - Component in other research projects

6. MSD P07302Design Review6 Design: PC104 Processing Platform Linux OS Motor Controller Application Motor Controller Circuit Board Stacked on PC104 Motor Commands High Level Commands

7. MSD P07302Design Review7 Design: PC104 System ISA Bus Motor Controller Motor Systems DAQ Future Projects External Client Interface Onboard Clients

8. MSD P07302Design Review8 Design: Operating System Manage other project programs Provide external client interface Provide internal client interface Memory management ISA bus management

9. MSD P07302Design Review9 Current State of Design: Software Software Design meets all customer requirements for system control. Efficient Design –Condensed instruction set for motor control –Event based software system design –Reconfigurable client interface

10. MSD P07302Design Review10 Hardware Design meets customer versatility requirements. Power system meets all PC104 and Motor controller power needs. Efficient Design –Did not exceed the space limitations. –System can support multiple motors using only one hardware component. Current State of Design: Hardware

11. MSD P07302Design Review11 Design: Risks Collaboration across disciplines and teams. Sharing of PC104 resources. –DAQ Hardware and software interface –Interoperability, Control, Timing. Circuit board fabrication risks –Design duration and unresolved manufacturing issues.

12. MSD P07302Design Review12 Design: Mitigations Good inter-team organization and communications Resource saving strategies –Application optimization Specifications for resource management Strategy for intersystem integration –Solid test planning Early development of PCB layout

13. MSD P07302Design Review13 Budget: COG Preliminary Build Cost: $724 Development Kits: $408Components: $112 PCB Fabrication: $204

14. MSD P07302Design Review14 Budget: $724 $326 $272 $68 Prototype + Development Production Cost Per 10 Prototype with shared Power Board

15. MSD P07302Design Review15 Timeline: MSD 1 MSD 2 Current phase of development 0 1234a4b Alpha build Prototype Phase 0: Planning Phase 1: Concept Development Phase 2: System Level Design Phase 3: Detailed Design Phase 4a: Component Integration Phase 4b: System Integration

16. MSD P07302Design Review16 MSD2 Milestones: Dec 08: Finalize full system design. Dec 15: Begin Prototyping and finalize Layout. Jan 19: Functional alpha prototype. Jan 29: Design testing complete, begin verification. Feb 09: Verifying design results. Feb 16: Finalize documentation. Feb 23: Final Project Review.

17. MSD P07302Design Review17 Questions?