ECE 477 Final Presentation ECE 477 Final Presentation Group 11 Group 11 Spring 2005 Spring 2005

OutlineOutline

• Project overviewProject overview• Block diagramBlock diagram• Professional componentsProfessional components• Design componentsDesign components• Success criteria demonstrationsSuccess criteria demonstrations• Individual contributionsIndividual contributions• Project summaryProject summary• Questions / discussionQuestions / discussion

Project OverviewProject Overview

MAVerick (Motorized Assault Vehicle) is a mobile gun platform controlled by a cellular phone that has the ability to establish full-duplex communication with a command center in order to transmit control and status signals. It will contain a paintball gun attached to the platform which will fire at moving targets and have the ability to detect obstacles.

MotivationMotivation

• To fill in a gap in the adult toys industryTo fill in a gap in the adult toys industry– Paintball enthusiastsPaintball enthusiasts– War gamesWar games

• Military possibilitiesMilitary possibilities– With proper upgrades, could be a useful With proper upgrades, could be a useful

tool on the battlefieldtool on the battlefield

Block DiagramBlock Diagram

Professional ComponentsProfessional Components

• Constraint analysis and component selection Constraint analysis and component selection rationalerationale

• Patent liability analysisPatent liability analysis• Reliability and safety analysisReliability and safety analysis• Ethical and environmental impact analysisEthical and environmental impact analysis

Constraint AnalysisConstraint Analysis

Mega8 Mega16 MC9S12C32MFU25

ATD converters 6 8 8PWM 3 4 6I/O Pins 23 32 58Frequency (MHz) up to 16 up to 16 up to 25Voltage Range (V) 2.7 - 5.5 2.7 - 5.5 2.97 - 5.5Price at digikey.com ($) 3.66 6.56 11.28

Microcontroller

Constraint AnalysisConstraint AnalysisDTMF Encoder

DTMF Decoder

BU8307CS TP5089External Parts 28 2Price ($) 1.84 1.25

75T204 CM8870External Parts 2 6Price ($) 4.00 4.00

Constraint AnalysisConstraint Analysis

SRF04 SRF08 600 SmartRange (ft) 10 20 35Interface PWM I2C Initiate - EchoVoltage (V) 5 5 6 - 24Price ($) 36.00 59.50 55.00

Ultrasonic Sensor

Patent Liability AnalysisPatent Liability Analysis

• Search criteriaSearch criteria

- DTMF encoding/decoding/transmitting- DTMF encoding/decoding/transmitting

- Use of a toy tank- Use of a toy tank

- Detecting obstacles using an array of - Detecting obstacles using an array of passive infrared sensorspassive infrared sensors

- Detect moving targets using an ultrasonic - Detect moving targets using an ultrasonic sensorsensor

Patent Liability AnalysisPatent Liability Analysis

• Literal Infringements Literal Infringements

- Vehicle obstacle avoidance system- Vehicle obstacle avoidance system

Pat. No. 5,598,164Pat. No. 5,598,164• Infringement under the Doctrine of Infringement under the Doctrine of

EquivalentsEquivalents

- Mobile-to-mobile DTMF signaling in tandem - Mobile-to-mobile DTMF signaling in tandem free operationfree operation

Pat. No. 6,791,976Pat. No. 6,791,976

Patent Liability AnalysisPatent Liability Analysis

• ““Commercial” ProductCommercial” Product

- SWORDS – Special Weapons Observation - SWORDS – Special Weapons Observation Reconnaissance Detection SystemReconnaissance Detection System

Reliability/Safety AnalysisReliability/Safety Analysis The evaluated components were chosen for three reasons:The evaluated components were chosen for three reasons:

1. All the components represent different blocks of the MAVerick’s circuits. 1. All the components represent different blocks of the MAVerick’s circuits.

2. They were chosen for criticality. If any of these components fail, then their 2. They were chosen for criticality. If any of these components fail, then their

respective blocks will fail and the MAVerick will lose a major portion of its respective blocks will fail and the MAVerick will lose a major portion of its

functionality.functionality.

3. They are all different types of components and demonstrate how different 3. They are all different types of components and demonstrate how different

parts use their own unique variables, values, and equations to rate their parts use their own unique variables, values, and equations to rate their

reliability.reliability.

Reliability/Safety AnalysisReliability/Safety Analysis Four components were evaluated for reliability:Four components were evaluated for reliability:

1. Microcontroller – Atmel AtMega16L1. Microcontroller – Atmel AtMega16L

λP = 2.86 failures per 10λP = 2.86 failures per 1066 hours hours

MTTF = 349,650 hours or 39.9 yearsMTTF = 349,650 hours or 39.9 years

Main reason for unreliability: conservative temperature and quality factorMain reason for unreliability: conservative temperature and quality factor

Way to improve: it will outperform its MTTF in realityWay to improve: it will outperform its MTTF in reality

2. Crystal Oscillator – 3.58 MHz2. Crystal Oscillator – 3.58 MHz

λP = 0.399 failures per 10λP = 0.399 failures per 1066 hours hours

MTTF = 2,506,265 hours or 286.1 yearsMTTF = 2,506,265 hours or 286.1 years

Main reason for unreliability: noneMain reason for unreliability: none

Way to improve: very reliable, no change is neededWay to improve: very reliable, no change is needed

Reliability/Safety AnalysisReliability/Safety Analysis

3. Voltage Regulator – LM7805CT3. Voltage Regulator – LM7805CT

λP = 4.7952 failures per 106 hoursλP = 4.7952 failures per 106 hours

MTTF = 208,542 hours or 23.8 yearsMTTF = 208,542 hours or 23.8 years

Main reason for unreliability: conservative temperature and high quality factorMain reason for unreliability: conservative temperature and high quality factor

Way to improve: use a better quality partWay to improve: use a better quality part

4. Motor – DC4. Motor – DC

λP = 9.09 failures per 106 hoursλP = 9.09 failures per 106 hours

MTTF = 110,000 hours or 12.56 yearsMTTF = 110,000 hours or 12.56 years

Main reason for unreliability: temperatureMain reason for unreliability: temperature

Way to improve: add heat sinks,Way to improve: add heat sinks, tank could be ventilatedtank could be ventilated

Ethical/Environmental AnalysisEthical/Environmental Analysis

• Ethical AnalysisEthical Analysis– Careless/harmful usageCareless/harmful usage– Accidental misfiresAccidental misfires– Warning labelsWarning labels

Ethical/Environmental AnalysisEthical/Environmental Analysis

• Environmental AnalysisEnvironmental Analysis– Proper disposal of printed circuit boardProper disposal of printed circuit board– Proper disposal of rechargeable batteriesProper disposal of rechargeable batteries

– Proper disposal of COProper disposal of CO22 tank tank

– Lots of recyclable partsLots of recyclable parts

Design ComponentsDesign Components

• Packaging design considerationsPackaging design considerations• Schematic design considerationsSchematic design considerations• PCB layout design considerationsPCB layout design considerations• Software design considerationsSoftware design considerations

Packaging DesignPackaging Design

MAVerick is packaged in the above pictured tank.MAVerick is packaged in the above pictured tank.

A paintball gun is integrated into the existing turret.A paintball gun is integrated into the existing turret.

The circuit board and all wires are housed inside of the tank.The circuit board and all wires are housed inside of the tank.

All sensors are mounted on the outside of the tank.All sensors are mounted on the outside of the tank.

Packaging DesignPackaging Design

Goose is packaged in the above pictured joystick.Goose is packaged in the above pictured joystick.

The circuit board, battery pack, and all wires are housed The circuit board, battery pack, and all wires are housed inside the joystick.inside the joystick.

The height of the housing was augmented by 2.5 inches.The height of the housing was augmented by 2.5 inches.

Status LEDs and an on/off switch were added to the top.Status LEDs and an on/off switch were added to the top.

Schematic DesignSchematic Design• Motor ControlMotor Control

Schematic DesignSchematic Design• Stepper Motor ControlStepper Motor Control

Schematic DesignSchematic Design• DTMF CircuitsDTMF Circuits

Schematic DesignSchematic Design

• Ultrasonic Ultrasonic SensorSensor

Schematic DesignSchematic Design• Infrared SensorsInfrared Sensors

Schematic DesignSchematic Design• JoystickJoystick

Schematic DesignSchematic Design• MicrocontrollerMicrocontroller

Schematic DesignSchematic Design• HeadersHeaders

PCB PCB Layout Layout DesignDesign

• MAVerick MAVerick (Tank)(Tank)

PCB PCB Layout Layout DesignDesign

• Goose Goose (Joystick)(Joystick)

Software DesignSoftware Design

• MAVerick ( Tank )MAVerick ( Tank )

- Size: 21.6%- Size: 21.6%

- ~1250 lines of code- ~1250 lines of code

- Loop driven- Loop driven

- Modules: main, init, get_tone, send_tone, - Modules: main, init, get_tone, send_tone, motor, stepper, action, joyaction, ultrasonic, motor, stepper, action, joyaction, ultrasonic, autonomous, joystick, and phoneautonomous, joystick, and phone

Software DesignSoftware Design

• Goose ( Command Center )Goose ( Command Center )

- Size: 7.4%- Size: 7.4%

- ~700 lines of code- ~700 lines of code

- Loop driven- Loop driven

- Modules: main, init, get_tone, send_tone, - Modules: main, init, get_tone, send_tone, read_adc, set_ledread_adc, set_led

Software DesignSoftware Design

• MAVerick MAVerick (Tank)(Tank)

Software DesignSoftware Design

• Goose Goose (Joystick)(Joystick)

Success Criteria DemonstrationsSuccess Criteria Demonstrations

1.1. Ability to detect moving targets using an Ability to detect moving targets using an ultrasonic/IR sensor - ultrasonic/IR sensor - demodemo

2.2. Ability to detect and avoid obstacles - Ability to detect and avoid obstacles - demodemo

3.3. Ability to encode and send control signals through Ability to encode and send control signals through a cellular phone to control the tank/gun - a cellular phone to control the tank/gun - demodemo

4.4. Ability to receive and decode control signals from Ability to receive and decode control signals from the cellular phone - the cellular phone - demodemo

5.5. Ability to send status information from the tank to Ability to send status information from the tank to the controlling device - the controlling device - demodemo

Individual ContributionsIndividual Contributions

• Team Leader – Chad BjorklundTeam Leader – Chad Bjorklund• Team Member 2 – Paul DulleTeam Member 2 – Paul Dulle• Team Member 3 – Pat McLaughlinTeam Member 3 – Pat McLaughlin• Team Member 4 – Randall ScheifeleTeam Member 4 – Randall Scheifele

Team Leader - Chad BjorklundTeam Leader - Chad Bjorklund

• Prototype DTMF CircuitryPrototype DTMF Circuitry• Part ResearchPart Research• PCB LayoutPCB Layout• Ethical / Environmental AnalysisEthical / Environmental Analysis• Software DevelopmentSoftware Development

Member 2 – Paul DulleMember 2 – Paul Dulle

• Component RationalizationComponent Rationalization• Sensor Research / SelectionSensor Research / Selection• Circuit PrototypingCircuit Prototyping• H-Bridge / Stepper Driver DesignH-Bridge / Stepper Driver Design• Circuit Schematic / IntegrationCircuit Schematic / Integration• MAVerick (Tank) Board PopulationMAVerick (Tank) Board Population• Physical Construction / MountingPhysical Construction / Mounting• Cable / Debugging Tool ConstructionCable / Debugging Tool Construction• Assisted Software DebuggingAssisted Software Debugging

Member 3 - Pat McLaughlinMember 3 - Pat McLaughlin

• Circuit TestingCircuit Testing• Board PopulationBoard Population• Physical Design and ConstructionPhysical Design and Construction• Safety and ReliabilitySafety and Reliability• Prototype joystickPrototype joystick

Member 4 - Randall ScheifeleMember 4 - Randall Scheifele

• DTMF Circuit PrototypingDTMF Circuit Prototyping• Software DevelopmentSoftware Development• Assisted Physical ConstructionAssisted Physical Construction• Patent Liability AnalysisPatent Liability Analysis• Software Design ConsiderationsSoftware Design Considerations• DebuggingDebugging• WebsiteWebsite

Project SummaryProject Summary• Important lessons learnedImportant lessons learned

– By prototyping hardware we were able to By prototyping hardware we were able to avoid flywire on the PCBavoid flywire on the PCB

– Our in-circuit programming headers Our in-circuit programming headers allowed for rapid software debuggingallowed for rapid software debugging

– Make sure to buy plenty of spares for high Make sure to buy plenty of spares for high risk partsrisk parts

– Think of the software requirements while Think of the software requirements while creating the schematiccreating the schematic

Project SummaryProject Summary

• Second iteration enhancementsSecond iteration enhancements– Interrupt driven code instead of pollingInterrupt driven code instead of polling– Better cell phone integrationBetter cell phone integration– Y-axis turret movementY-axis turret movement– PWM for variable motor speedsPWM for variable motor speeds– Infrared sensors for aiding target detectionInfrared sensors for aiding target detection– Video broadcast over the cell phoneVideo broadcast over the cell phone– Faster motorsFaster motors

Questions / DiscussionQuestions / Discussion

Project Success CriteriaProject Success Criteria

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