1. 1 Mars Rover Ground Control Team Design Review Report Week 3 Tim Hermann - Ben Davini - Jose Angulo - Ryan Morton CPE450 Winter 2008 2007-01-24

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3. 3 Presentation Overview Project Roles Project Roles System Requirements System Requirements –Project Description Specifications and Architectures Specifications and Architectures –Command GUI –Communication Black Box –Cricket Localization System Individual Reports Individual Reports

4. 4 Project Roles - Overall Jose Angulo Jose Angulo –Hardware Architect, Designer, System Interface Ben Davini Ben Davini –System Architect, Product Verification, Reliability and Service, Intellectual Property Tim Hermann Tim Hermann –Project Manager, Development Tools Specialist, Customer Liaison Ryan Morton Ryan Morton –Software Architect and Designer, Procurement

5. 5 Project Roles – Project Specific Tim Hermann Tim Hermann –Communication Black Box, overall integration Ben Davini Ben Davini –Cricket data parsing and rover communication, software verification Jose Angulo Jose Angulo –Command GUI, packet specification Ryan Morton Ryan Morton –Cricket triangulation software

6. 6 System Requirements Project Description Project Description –Provide the software communications interface for remotely controlling the rover –Develop and integrate the robot localization system Functional Specification Functional Specification –Command GUI and communication black box written in C# using Windows Forms –Cricket Localization system written in C to enable ease of integration with robot OS

7. 7 Engineering Requirements Localization system shall be accurate to within 8 cm Localization system shall be accurate to within 8 cm GUI shall allow rover control via software communication specification GUI shall allow rover control via software communication specification Commands shall be verifiable Commands shall be verifiable Graphical User Interface (GUI) needs to display, at a minimum, health & rover status, sensor data, and positioning information. Graphical User Interface (GUI) needs to display, at a minimum, health & rover status, sensor data, and positioning information.

8. 8 System Architecture Overview

9. 9 Communications Black Box Architecture Overview

10. 10 Communications Black Box Architecture Overview in Short

11. 11 Client GUI Class Overview

12. 12 Bill of Materials NameUnit Cost*#TaxCostExplanation Cricket modules$195.006$90.68$1,260.68 Localization devices: 4 beacons, 2 receivers (1 per rover) Cricket Programmer$95.001$7.36$102.36 Required to program cricket firmware Cricket S&H$42.001 Laptop$600.002$93.00$1,293.00 One laptop required for ground control station to display GUI and facilitate command entry and communications between user and rover. Second laptop required for development in the Linux environment to simulate the rovers in the sandbox. Cricket Mounting Supplies (sandbox)$200.001$15.50$215.50 Require four (4) poles and supporting hardware to accommodate cricket positioning above the sandbox Cricket Mounting Supplies (rover)$50.001$3.88$53.88 Require two (2) bracket systems to mount crickets onto the rovers above all components to ensure adequate line-of- sight to beacons Serial Cable$20.002$3.10$43.10 Cables required to connect cricket listeners to rovers (1 each) WiFi Router7515.812580.8125 Personal-Area Network (PAN) for testing facility Total Cost$3,091.33 *Prices on unpurchased materials are subject to change

13. 13 Specification - Cricket Localization System User Interface – Program on the robot will query for coordinates when necessary User Interface – Program on the robot will query for coordinates when necessary Real Time Constraints – Cricket communication initialization and beacon message frequency Real Time Constraints – Cricket communication initialization and beacon message frequency Background Tasks – Parsing program runs as a separate thread alongside the Triangulation program Background Tasks – Parsing program runs as a separate thread alongside the Triangulation program

14. 14 Cricket Localization System – Hardware Architecture

15. 15 Cricket Localization System – Software Architecture Overview

16. 16 Cricket Localization System – Software Flowcharts

17. 17 Bill of Materials NameUnit Cost*#TaxCostExplanation Cricket modules$195.006$90.68$1,260.68 Localization devices: 4 beacons, 2 receivers (1 per rover) Cricket Programmer$95.001$7.36$102.36 Required to program cricket firmware Cricket S&H$42.001 Laptop$600.002$93.00$1,293.00 One laptop required for ground control station to display GUI and facilitate command entry and communications between user and rover. Second laptop required for development in the Linux environment to simulate the rovers in the sandbox. Cricket Mounting Supplies (sandbox)$200.001$15.50$215.50 Require four (4) poles and supporting hardware to accommodate cricket positioning above the sandbox Cricket Mounting Supplies (rover)$50.001$3.88$53.88 Require two (2) bracket systems to mount crickets onto the rovers above all components to ensure adequate line-of- sight to beacons Serial Cable$20.002$3.10$43.10 Cables required to connect cricket listeners to rovers (1 each) WiFi Router7515.812580.8125 Personal-Area Network (PAN) for testing facility Total Cost$3,091.33 *Prices on unpurchased materials are subject to change

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