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Mars Rover. By: Colin Shea Dan Dunn Eric Spiller. Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag. Outline. Project Summary Review of Previous Work Patents Project Description Data Sheet Equipment and Parts Preliminary Research Schedule Division of Labor. Project Summary. - PowerPoint PPT Presentation
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Mars RoverMars Rover
By: By: Colin SheaColin SheaDan DunnDan Dunn
Eric SpillerEric Spiller
Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag
OutlineOutline
• Project SummaryProject Summary• Review of Previous WorkReview of Previous Work• PatentsPatents• Project DescriptionProject Description• Data SheetData Sheet• Equipment and PartsEquipment and Parts• Preliminary ResearchPreliminary Research• Schedule Schedule • Division of LaborDivision of Labor
Project SummaryProject Summary
• The main objective is to design the Rover for long The main objective is to design the Rover for long battery life that must last 7 days without recharging. battery life that must last 7 days without recharging.
• The Rover will use PC104 to control the interface among The Rover will use PC104 to control the interface among the user and the Rover and high level software.the user and the Rover and high level software.
• It will also use the MicroPac 535 microprocessor to It will also use the MicroPac 535 microprocessor to control low level software such as the motors for motion, control low level software such as the motors for motion, the sonar system, and the battery level. the sonar system, and the battery level.
• The user will be able to enter a specific distance, move a The user will be able to enter a specific distance, move a predetermined distance, or rotate the Rover to get a predetermined distance, or rotate the Rover to get a preferred direction. preferred direction.
Previous WorkPrevious Work
• 20022002• Rob Shockency and Randall SatterthwaiteRob Shockency and Randall Satterthwaite• Robotic Platform Design Robotic Platform Design • EMAC 8051 and a CPLDEMAC 8051 and a CPLD• Design GoalsDesign Goals
1. Create Cheaper version of Telerobotics 20011. Create Cheaper version of Telerobotics 2001
2. Upgradeable and expandable in the future 2. Upgradeable and expandable in the future
PatentsPatents
The following patents were collected from the The following patents were collected from the United States Patent and Trademark OfficeUnited States Patent and Trademark Office searchable on-line searchable on-line database using the keywords database using the keywords wirelesswireless, , network, 802.11, web, network, 802.11, web, camera, USB camera, PCMCIA,camera, USB camera, PCMCIA, and and hard diskhard disk
• 6,484,029 Apparatus and methods for adapting mobile unit 6,484,029 Apparatus and methods for adapting mobile unit
to wireless LAN to wireless LAN • 6,453,159 Multi-level encryption system for wireless 6,453,159 Multi-level encryption system for wireless
network network • 6,486,832 Direction-agile antenna system for wireless 6,486,832 Direction-agile antenna system for wireless
communications communications • 6,434,132 Wireless LAN for reestablishing wireless links 6,434,132 Wireless LAN for reestablishing wireless links
between hosts according to monitored between hosts according to monitored
PatentsPatents• 5,982,807 High data rate spread spectrum transceiver and 5,982,807 High data rate spread spectrum transceiver and
associated methods associated methods• 6,005,613 Multi-mode digital camera with computer 6,005,613 Multi-mode digital camera with computer
interface using data packets interface using data packets • 6,484,308 System and method for ensuring data integrity 6,484,308 System and method for ensuring data integrity
on a removable hard drive on a removable hard drive• 6,292,863 PC card 6,292,863 PC card • 6,336,142 Methods and apparatus for downloading data 6,336,142 Methods and apparatus for downloading data
between an information processing between an information processing device and device and an external device via a wireless an external device via a wireless
communications communications technique technique
• 5,619,396 Modular PCMCIA card 5,619,396 Modular PCMCIA card • 5,231,693 Telerobotics5,231,693 Telerobotics
StandardsStandards
Internet StandardsInternet Standards Most internet standards are documented in Internet Request For Most internet standards are documented in Internet Request For
Comments which are indexed at Comments which are indexed at Ohio State UniversityOhio State University. Java is . Java is trademarked by trademarked by Sun Computer SystemsSun Computer Systems. .
• RFC 791 - Internet Protocol (IP) RFC 791 - Internet Protocol (IP) • RFC 793 - Transmission Control Protocol (TCP)RFC 793 - Transmission Control Protocol (TCP)• RFC 826 - An Ethernet Address Resolution Protocol (ARP)RFC 826 - An Ethernet Address Resolution Protocol (ARP)• RFC 893 - Internet Protocol on Ethernet NetworksRFC 893 - Internet Protocol on Ethernet Networks• RFC 1866 - Hypertext Markup Language (HTML/2.0)RFC 1866 - Hypertext Markup Language (HTML/2.0)• RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0)RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0)
• USB Standard is found from USB Standard is found from USB.orgUSB.org, the document is part of a zip , the document is part of a zip file that also includes information on the newest standard USB 2.0.file that also includes information on the newest standard USB 2.0.
Functional DescriptionFunctional Description
• Wait modeWait mode – – • All systems are powered, except the motors. All systems are powered, except the motors. • The CPU monitors the wireless card for network activityThe CPU monitors the wireless card for network activity• The last image captured from the camera is displayed to the The last image captured from the camera is displayed to the
user.user.• Web page accessible to userWeb page accessible to user• Battery Status is monitored Battery Status is monitored
• Sleep mode –Sleep mode – • The sub-systems are powered down except for the CPU and The sub-systems are powered down except for the CPU and
the wireless network card. the wireless network card. • CPU runs in a reduced power mode. CPU runs in a reduced power mode. • Web page accessibleWeb page accessible• Battery Status is monitored. Battery Status is monitored. • Rover remains in sleep mode until signaled by the user. Rover remains in sleep mode until signaled by the user.
Functional DescriptionFunctional Description• Low battery mode – Low battery mode –
• Battery drops below 10% of charge Battery drops below 10% of charge • Email sent to Dr. Malinowski requesting a charge Email sent to Dr. Malinowski requesting a charge • Rover shuts down all components. Rover shuts down all components.
• Charge mode – Charge mode – • Rover continues to charge until power button is pressedRover continues to charge until power button is pressed• Stays in this mode until battery level reaches 100%Stays in this mode until battery level reaches 100%
• User mode –User mode – • All Systems poweredAll Systems powered• Distance and Direction ControlDistance and Direction Control• Web Page accessible to userWeb Page accessible to user• Image capture and displayImage capture and display• Battery Status is MonitoredBattery Status is Monitored
Functional DescriptionFunctional Description
Wait
Charge
Low BatterySleep
User
Low Battery
Tim
eout
Connect
Disconnect
Activity
Man
ual
Full Charge
Low Battery
Low Battery
System Block DiagramSystem Block Diagram
UserComputer Internet
Embedded System
Motor Control
Wheel Sensors
Battery ChargeLevel
Camera
Control TCP/IP
Photons
AcousticSensors
Upper level softwaremicroprocessor
WirelessNetwork
card
802.11bRF signal digital bit stream
Monitor
Transm
it pulse
Object
USB Protocol
Java Applet
Image
Com
mands
Sta
tus
Ech
o pu
lse
Mouse andKeyboard
Software Flow ChartSoftware Flow Chart
• High Level SoftwareHigh Level Software • Rover ControlRover Control
Wait ForControlEvent
Turn byDegree
MoveForward
orBackward
Encodesignal -binary/ASCII
EnterDegreeHeading
Enterdistance
Press orHoldarrowkey
SendSignal
throughSerial Port
Software Flow ChartSoftware Flow Chart
• High Level SoftwareHigh Level Software • Image Retrieval/DisplayImage Retrieval/Display
Cameratakes
Picture
Image iscompresse
d to jpeg
Image isread frommemory
ImageDisplayedin applet
Delay 5sec
Software Flow ChartSoftware Flow Chart
• Low Level SoftwareLow Level Software• Motor Control Motor Control
Left WheelSensor
Register
Right WheelSensor
Register
Left WheelSensor
Right WheelSensor
Compare MeasuredValues
Left Motor Right Motor
Retrievecount every
.1 secs
Retrievecount every
.1 secs
Increment orDecrement Timer
Registers toregulate speed
Distance Registerfor Left Wheel
Distance Registerfor Right Wheel
Decrement DistanceTraveled from Total
Distance
Decrement DistanceTraveled from Total
Distance
Increment orDecrement Timer
Registers toregulate speed
Stop RoverEqual to
ZeroEqual to
Zero
User input, storein registers
Software Flow ChartSoftware Flow Chart
• Low Level SoftwareLow Level Software• Object DetectionObject Detection
Micropac 535 Acoustic SensorObject
Transmit Pulse
Echo Pulse
Measure timebetween pulses
Calculate distanceaway from object
Too close Stop rover
Safe distance
Continue moving
Software Flow ChartSoftware Flow Chart
• Low Level SoftwareLow Level Software• Battery Voltage LevelBattery Voltage Level
Micropac 535 A/D converter
Battery terminalvoltage
Compare to DataTable
User present
Display to userapproximate battery
charge levelCharge too low
Stop rover and switchto low charge mode
Charge G
ood
Continue operatingrover
User not present, charge good
Preliminary ResearchPreliminary Research
Hard drives – Hard drives – Standard IDEStandard IDE
Large power consumptionLarge power consumptionFlash CardFlash Card
Very small power consumptionVery small power consumptionNot large enough to run LinuxNot large enough to run Linux
PCMCIAPCMCIAGood power consumptionGood power consumptionLarge enough to run LinuxLarge enough to run Linux
Preliminary ResearchPreliminary Research
Wireless Cards –Wireless Cards –Dell TruemobileDell Truemobile
Lowest power consumptionLowest power consumptionNot compatible with LinuxNot compatible with Linux
Linksys Linksys Good power consumptionGood power consumptionCompatible with LinuxCompatible with Linux
CiscoCiscoHigher power consumptionHigher power consumptionCompatible with LinuxCompatible with Linux
Preliminary ResearchPreliminary ResearchComputer PlatformComputer Platform
FormatFormat PC/104PC/104 PC/104+PC/104+
SBCSBCProcessorsProcessors
Intel PIII ULVIntel PIII ULV Transmeta Crusoe ProcessorTransmeta Crusoe Processor National Semiconductor Geode ProcessorNational Semiconductor Geode Processor
Boot OptionsBoot Options Disk-on-ChipDisk-on-Chip USB USB FloppyFloppy
Expansion OptionsExpansion OptionsPCMCIAPCMCIASerial Serial
Preliminary ResearchPreliminary Research
Format Differences:Format Differences:
PC/104 – Based on a ISA bus expansion – supports 8bit PC/104 – Based on a ISA bus expansion – supports 8bit andand 16bit devices 16bit devices
PC/104+ Based on a PCI bus expansion – supports 16bit PC/104+ Based on a PCI bus expansion – supports 16bit and and 32bit devices 32bit devices
SBC – has no bus expansion, usuallySBC – has no bus expansion, usually
Preliminary ResearchPreliminary Research
Processors:Processors: Intel power Intel power
highest power in sleep mode >1.0watts highest power in sleep mode >1.0watts Transmeta Crusoe power Transmeta Crusoe power
lowest power in sleep mode <.05 Wattslowest power in sleep mode <.05 Watts National Semiconductor power National Semiconductor power
second lowest >.05Wattssecond lowest >.05Watts Speed:Speed:
Intel – 450Mhz-1.0GhzIntel – 450Mhz-1.0Ghz Transmeta 300Mhz – 700MhzTransmeta 300Mhz – 700Mhz
National Semiconductor 200Mhz – 333MhzNational Semiconductor 200Mhz – 333Mhz
Preliminary ResearchPreliminary Research• Battery Report:Battery Report:
• A battery with the highest amp hours and lowest A battery with the highest amp hours and lowest weight must be selected weight must be selected
• After a meeting with the project advisors, the decision After a meeting with the project advisors, the decision was made to use a 12V battery supply, primarily, the was made to use a 12V battery supply, primarily, the batteries used in the Robotic Platform Design. batteries used in the Robotic Platform Design.
• Trickle charge applies a continuous constant low Trickle charge applies a continuous constant low current to maintain charge current to maintain charge
• A deep discharge will shorten the life and partial A deep discharge will shorten the life and partial discharges will extend life. discharges will extend life.
Preliminary ResearchPreliminary Research
DC Motor Report:DC Motor Report:• Researched a 5V motor, but later the decision Researched a 5V motor, but later the decision
was made to use a 12V motor . was made to use a 12V motor . • Pittman motors will be used for the Mars Pittman motors will be used for the Mars
Rover. Rover. • major factor in determining which motor that major factor in determining which motor that
will be used is the value of the load current. will be used is the value of the load current.
Power CalculationsPower Calculations
Power Consumption for Sleep Mode:Power Consumption for Sleep Mode:PC104 computer PC104 computer .026A.026APC104 PCMCIA module PC104 PCMCIA module .07A.07APCMCIA Hard drive PCMCIA Hard drive .015A.015APCMCIA Wireless CardPCMCIA Wireless Card .009A.009AEMACEMAC .045A.045A
+ _____+ _____TotalTotal .165A.165A24hrs * 7days = 168hrs24hrs * 7days = 168hrs168hrs * .165A = 27.72 Ah @ 5V168hrs * .165A = 27.72 Ah @ 5V27.72Ah * 5V = 27.72Ah * 5V = 138.6Wh138.6WhUsing 2 - 12 Volt, 7.2Ah batteries:Using 2 - 12 Volt, 7.2Ah batteries:12V * 7.2Ah * 2 = 12V * 7.2Ah * 2 = 172.8Wh172.8Wh available available
Power CalculationsPower Calculations
Power Consumption for User Mode:Power Consumption for User Mode:PC104 computerPC104 computer .8A.8APC104 PCMCIA modulePC104 PCMCIA module .07A.07APCMCIA Hard drivePCMCIA Hard drive .4A.4APCMCIA Wireless CardPCMCIA Wireless Card .285A.285AEMAC EMAC .045A.045ACameraCamera .1A.1A2 Polaroid Ultrasonic 65002 Polaroid Ultrasonic 6500 .2066A .2066A
+ ______+ ______TotalTotal 1.9066A1.9066A
Power CalculationsPower Calculations• Pittman GM9236 motors: Pittman GM9236 motors: • Total with motorsTotal with motors 1.9066A + 16.9A * 2 = 1.9066A + 16.9A * 2 = 35.7A35.7A
• User is connected 3% of the time (or 5 hrs out of a week), then power User is connected 3% of the time (or 5 hrs out of a week), then power consumption is as follows:consumption is as follows:
• (1.9066A * 3% + .165A * 97%) * 168 * 5V= (1.9066A * 3% + .165A * 97%) * 168 * 5V= 182.48Wh182.48Wh without motors without motors• ((33.8A*12V+1.9066A*5V)*3% + .165A*97%*5V)*168hrs = ((33.8A*12V+1.9066A*5V)*3% + .165A*97%*5V)*168hrs = 2226.7Wh2226.7Wh
• With Pittman GM9X12 motors which pull 4.56A @ 12V:With Pittman GM9X12 motors which pull 4.56A @ 12V:• ((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =726.8Wh726.8Wh
• To meet the requirements to run for 7 days without a recharge using 2 – To meet the requirements to run for 7 days without a recharge using 2 – 12V @ 7.2Ah batteries, the user would only be able to run the rover for 12V @ 7.2Ah batteries, the user would only be able to run the rover for 1.5hrs a week1.5hrs a week
• ((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =179.1Wh179.1Wh
Data SheetData Sheet
SpecificationsSpecificationsTurning accuracy - ± 5° for an individual turn commandTurning accuracy - ± 5° for an individual turn commandDriving accuracy - ± 5cm and ± 2° for a 100cm commandDriving accuracy - ± 5cm and ± 2° for a 100cm commandCamera capture speed – 5 frames/sec @ 324x288 resolution for a Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT connection10BaseT connectionWeight – ~28lbsWeight – ~28lbsBattery life – 7 days without a recharge if user connects <= 1.5 Battery life – 7 days without a recharge if user connects <= 1.5 hours a weekhours a weekTop speed – 10cm/sTop speed – 10cm/sSpeed range – 1 cm/s to 10 cm/sSpeed range – 1 cm/s to 10 cm/sAcoustic sensors – Acoustic sensors –
Time between transmit signals – 10 secondsTime between transmit signals – 10 secondsFarthest object detection – 200cmFarthest object detection – 200cmClosest object detection – 50cmClosest object detection – 50cm
Data SheetData Sheet
Motors – Motors – Model number – GM9X12Model number – GM9X12Gearing – 1:65.5Gearing – 1:65.5Max current – 4.56AMax current – 4.56AVoltage – 12VVoltage – 12V
Wheel Sensors – Wheel Sensors – Output – TTLOutput – TTLPulses per revolution of shaft – 512Pulses per revolution of shaft – 512Voltage required – 5VVoltage required – 5V
Battery charge level accuracy - ± 5%Battery charge level accuracy - ± 5%Wireless protocol – 802.11bWireless protocol – 802.11bDimensions – 31.4cm x 46.4cm x 21cm (L x W x H)Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H)Battery – 2 - 12V @ 7.2Ah Battery – 2 - 12V @ 7.2Ah Wheels – 5cm x 16cm (Width x Diameter) Wheels – 5cm x 16cm (Width x Diameter)
Parts and Price ListParts and Price ListEquipment List for Mars Rover
Part Qty. Website Manufacturer Location of Vendor Part # Price
5 Gb PC/MCIA Harddrive 1 www.pricewatch.com Toshiba www.legendmicro.com
HDD1232CZP41002 $191.00
128 Mb RAM 1 www.pricewatch.com Infineon www.18004memory.comLG1064U/064/G3VAC $14.20
PC/MCIA Wireless Card 1 www.pricewatch.com Logictech www.legendmicro.com DL1150 $69.00
USB Webcam 1 www.pricewatch.com Logictech www.enpc.com 961137-0403 $16.00
PC104+ 200MHz w/ USB 1 www.square1industri
es.comNational Semi www.square1industries.co
mCM-589 $399.00
Dual PC/MCIA Adaptor 1
Pittman DC Motor #9236 2 Bradley OwnedBradley Owned Pittman www.pittmannet.com
12V 35Ah Battery 1 www.batterymart.com www.batterymart.com SLA-12V35 $42.95
6V 42Ah Battery 1 www.batterymart.com www.batterymart.com SLA-6V42 $39.95
The Energy Conservation Laboratory and Acoustic Laboratory Room will be used to construct the project. $772.10
Laboratory Week Project Milestones
19-Jan-03 Assemble PC104 and interface with previous Robotic Platform Design project.
26-Jan-03 Create boot software for Linux.
Install drivers for all components in Linux.
2-Feb-03 Develop and test motor control software on Micropac 535.
Develop software to interpret wheel sensor bit streams.
9-Feb-03 Continue working on software development for motor control and feedback loop.
16-Feb-03 Develop software to capture image from camera and send to user.
Continue working on software development for motor control and feedback loop.
Work on web server development.
23-Feb-03 Create Java applet for user interface.
2-Mar-03 Continue with Java applet
Work on software to estimate battery charge level.
9-Mar-03 Finish working on software to estimate battery charge level
16-Mar-03 Spring Break
23-Mar-03 Develop software to operate acoustic sensors
30-Mar-03 Finish Java applet.
6-Apr-03 Testing of individual components and overall system.
13-Apr-03 Testing of individual components and overall system.
20-Apr-03 Preparation for presentation and final report
27-Apr-03 Presentation
Division of LaborDivision of Labor
Dan DunnDan Dunn Colin SheaColin Shea Eric SpillerEric Spiller
Assembly CodeAssembly Code JavaJava HardwareHardware
- Motor Speed - Motor Speed - Image Capture- Image Capture - DC Motors- DC Motors
- Wheel Sensors- Wheel Sensors - Rover Controls- Rover Controls - Platform Construction- Platform Construction
- Battery Charge Level- Battery Charge Level - Serial Communication- Serial Communication - H-bridge/Motor Driver - H-bridge/Motor Driver
-Serial Connection-Serial Connection
-Acoustics Sensors-Acoustics Sensors
LinuxLinux LinuxLinux LinuxLinux
Questions and AnswersQuestions and Answers
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