583_pres.ppt - Wikispaces by ewghwehws

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									“Team Digger Robot”
      Group #25
     Sean Gifford
    Charles Hateley
     Paul Lapides
What’s in a name?
                   Topics
•   Who we are
•   What we are going to do
•   What we’ve done to get there
•   How we’ve done so far
•   Where we will go from here
•   Questions
Who we are
           Mission Statement
Team Digger Robot is focused on contending in
  the Western Canadian Robotics Society: “Mine
  Sweeper” competition. We develop realistic
  goals and have strong project identification
  advantages in use to offer a competitive
  superiority over other project teams in the
  deployment of an autonomous robot. Team
  Digger Robot is composed of team members
  who recognize practical limitations, maintain
  excellent design skills at high or low level and a
  positive work ethic to offer consistent execution
  and standards of excellence.
          Mission Summary
• Western Canadian Robotics Society:
  “Mine Sweeper” competition
• Realistic goals
• Strong project identification advantages
• Recognize practical limitations
• Consistent execution
• Demanding standards of excellence
      Markets and Motivation
• Primary: Western       • Challenge offered in
  Canadian Robotics        complex integration of
  Society: Mine            hardware and
  Sweeping competition     software systems
• Secondary: Robot       • Understanding
  Hobbyists, Defense       practical deployment
  related and              of theoretical designs
  Humanitarian efforts   • Sense of competition
What we are going to do
Functional Specifications



           UXB




            Mines
          (38kHz IR)
   Performance Specifications
• Each stage to be completed within 3 minutes
• Points from flagged mines or collected UXBs are
  considered bonus
• Point deductions will be avoided as much as
  possible throughout the course of each arena
• Design for 8 minutes of autonomy at nominal
  load conditions before power replenishment
What we’ve done to get there

      Focus on Integration!!
High-Level System Design
Top Level Design
                  Mechanical System



                           Debugging &
   Power System
                        Development System




             Control System




                                  I/O




                               Sensing
                              Peripherals
        Control System

Servo Controller                          Software


                        Primary Microcontroller

  16 General
  Purpose I/0




                       Secondary Microcontroller




                   Motor Controller
     Microcontroller – Option 1
• Atmel ATMega644           • + Excellent chip
  – 64K of program memory   • + lots of enthusiast
    and 4K of SRAM            support for the platform
• Atmel STK-500 dev board   • + Complete cost covered
                              by faculty advisor
                            • - Need programmer
                            • - “bare bones” solution:
                              lots of low level design
                              required
                            • - No LCD
• ~$110                     • - large board
    Microcontroller – Option 2
• Atmel ATMega w/     • + same + LCD
  LCD driver          • - Need programmer
• Atmel STK-500 dev   • - Still “bare bones”
  board                 solution: lots of low
• Atmel STK-504 LCD     level design required
  expansion           • - Expensive!!
• ~$250
     Microcontroller – Option 3
• Try a different vendor:   • + Integrated LCD
  Freescale®                • + complete board
  MC9S08LC60                • + USB programing
• Demo board                • + familiar dev
  DEMO9S08LC60U               environment
                            • - probably not enough
                              I/O
                            • - what about motor
• ~$80                        control, servos…etc
Orangutan X2 Robot Controller
                       1. Orangutan X2 main board

                       2. Motor driver (VNH2SP30 or
                          VNH3SP30) daughter
                          board

                       3. USB A to Mini-B cable

                       4. 4-line x 20-character LCD
                          with LED backlight
                          (optional)

                       5. Extra IDC connector for
                          LCD (with LCD option)

                       6. 15" LCD cable (with LCD
                          option)


Only   $149.00   USD
     …But wait, there’s more!
• Vendor supplied C code wrapper functions for
  – LCD, Motor Driver, I/O config, Serial commands…
  – ++ Focus on robotics programming, algorithms, etc.,
    not low-level details.
• Open source project “Orangutan C library”
• Exceptional Vendor support via “Pololu
  Robotics and Electronics forum”
• Free AVR Studio IDE by Atmel
• Large Atmel enthusiast forum avrfreaks.net
             Servo Control
                                       •Receives commands over UART
                                       •Frees I/O on the main board
                                       •Handles timing, etc. for RC servo
                                       control
                                           •saves processing time and
                                           complexity




Pololu Micro Serial Servo Controller
     Software and AI

      Brawn over brains…
A balance of brains and brawn!
              Environment
•   Native C & Wrapper Functions
•   Simulator and environment out of box
•   GCC compiler (very familiar)
•   Programmed via USB (168 programs 644)
                Intelligence
•   Use state machine to control robot
•   Sensors will change current state
•   State will activate motors
•   Only for design of algorithm
•   Written in simple C, no special FSM code
 Proposed Algorithm

              Sensor activated
 Move                                  Environment
Forward                                 Acquisition
                   No obstacles
                                                    Motor

                                  Complete          commands
  Activate servo


 Mine         Motor commands             Obstacle
Marking                                 Avoidance
      Debugging and Testing
• Use LCD for feedback
• Pauses for input after every state change
                                   Power System
                                                    External Charging Unit




                                                                                 7.2 VDC
~6 VDC Cell Array
                                                                                 Cell Array



  Device based
                                                                             Power distribution
   Regulation



Power distribution



Logic Level System and Peripheral System (servos)                                        Peripheral System (motors)



• 7.2 V, 2800mAh for motors
• 6.0 V, 2800mAh for remaining components
• Isolates motor current loads and potential noise from
  other systems
         Power Calculations
• 7.2VDC 2800 mAH Battery
  – 2 x 7.2VDC Motors – 3.80A @ Infinite Load
    • (2800mAH / 7600mA) * 60 min/H = 22 minutes
            Power Calculations
• 6.0 VDC 2800 mAH Battery
  – Orangutan X2 Controller – 150 mA @ 6 VDC
     • Sensors
        –   IR Beacon – 15 mA @ 5VDC
        –   Sonar Sensor – 3mA @ 5VDC
        –   IR Range Sensor – 50mA max @ 5VDC
        –   IR Mine Receivers – 5mA * 8 @ 5VDC
  – Servos (active, not active)
     • Servo Controller – 5 mA avg @ 5VDC
     • Servo Motor – 4x280mA running, no load @ 6VDC
• (2800 mAH / 1270 mA)*60min/H = 132min
             Power Usage
• The 7 Volt Supply will run out in 22
  minutes when stall current is assumed
• The 6 Volt Supply will run out in 132
  minutes if all systems running at full power
  is assumed
• Neither scenario will be even approached
• Well beyond our specification of 8 minutes
  of autonomous operation
                  Mechanical
                          UXB Magnets

                 Power       Control
                 System      System




                                                     Tread System B
Tread System A




                            Chassis



                      LCD              Peripherals
        Chassis and Treads
• 3 Proposed solutions
         Mechanical System cost
              comparison
• Please refer to handout for details

• Considering final costs:
   – Tamiya design: $208.42
   – Lynxmotion Track: $242.30
   – Tri-Track Chassis: $219.95

• Given our design parameters, most considered systems
  will cost around $200.

• Tri-Track Chassis is $11.53 more than the lowest price
  option, but comes with many benefits!
                       Sensing

    Directional                                         Mine Detection                             Proximity Detection




                                                                          Array of N IR/Ultrasonic Sensors
Transceiver (Robot)                                             (Robot)                                      (Robot)




                        Array of N 38khz IR receivers
                                                                (Robot)                                      (Robot)

                                                                (Robot)                                      (Robot)




                                                                  …




                                                                                                                …
                                                                (Robot)                                      (Robot)
Transceiver (Beacon)
                           Sensor Selection
•   Orientation/Direction
     – Choices:
          •   Rotation Tracking
          •   Accelerometer/Digital Compass
          •   Beacon
     – Beacon
          •   Low Cost, Reliable, Accurate
•   Proximity
     – Choices:
          •   Direct Contact (Bump)
          •   Ultrasonic
          •   Infrared
     – Ultrasonic and Infrared
          •   Low Cost, Analog Output, Manufacture tested, IR Freq
•   Mines
     – Infrared
          •   Inexpensive and Plentiful, Pre-assembled
How we’ve done so far




              Project Manager
      Schedule




Please refer to handout for more details
                            Procurement
•Used two suppliers exclusively (Domestic and International)
•Long lead time items ordered in advance
•International components ordered at local maximum CAD/USD!




•7 – 12 days lead time on remaining components from Nov 26, 2007
•Will meet Dec 15 “Major Components Delivered” milestone!

Delivered                              Enroute
•   Microcontroller Board              •   Chassis
•   Homing Beacon                      •   Sensors
•   Servo Controller                   •   Batteries
                                       •   Servos
             Project Costs
• August 2007 Industry Equivalent Alberta
  Rates
• Based on junior tech with 1 yr experience
  – For accuracy, can not be considered
    engineers…yet
• Assume fixed operating cost of $2500/per
• Monthly costs ~$500/per
    3 month period September 1 – November 27 2007


T eam Member
A
                      T ime (hr)          D is c ipline C lient R ate P ay R ate P aid out      C orporate Net
                                                                                                                  •Client has spent:
                                    40 B D /O vh
                                   200 Automation
                                                               $0
                                                           $86.00
                                                                        $30.00
                                                                        $30.00
                                                                                   $1,200.00
                                                                                   $6,000.00
                                                                                                      ($1,200)
                                                                                                      $11,200
                                                                                                                  $38,280 on engineering
                                    40 P M                   $140       $80.00     $3,200.00           $2,400
        S ub T otal                280                    $22,800                 $10,400.00          $12,400
      F ixed C os t                                                                                   ($2,500)    •Company Paid out:
     Monthly C os t                   3         $500                                                  ($1,500)
                                                                                                       $8,400
                                                                                                                  $18,200
B
                                    40 B D /O vh          $0            $30.00      $1,200.00          ($1,200)   •Company profited:
                                   120 Automation     $86.00            $30.00      $3,600.00           $6,720
        S ub T otal                160            $10,320.00                        $4,800.00           $5,520    $8,080
      F ixed C os t                                                                                    ($2,500)
     Monthly C os t                   3         $500                                                   ($1,500)
                                                                                                        $1,520

C
                                    40 B D /O vh               $0       $30.00      $1,200.00          ($1,200)
                                    60 E lec tric al       $86.00       $30.00      $1,800.00           $3,360
             T otal                100                  $5,160.00                   $3,000.00           $2,160
      F ixed C os t                                                                                    ($2,500)
     Monthly C os t                   3         $500                                                   ($1,500)
                                                                                                       ($1,840)




T otal                                                    $38,280                 $18,200.00            $8,080
       Equipment and Materials
• Academic budget: $150
• Faculty Advisor Supplemented budget: ~$100 - $150
• Practical budget: ~$800

• Time value of the project so far is $38,280
• $800 on equipment is well within feasible range (maybe
  even a little low)
• ~$150 / team member donation

• To date have spent $750 (incl. shipping, tax, etc.)
   – Incl. all major components and some detailed components
   – ~$50 remaining for small items (wiring, etc.)
Where we will go from here
            Detailed Design
• Complete:
  – Mine marker
  – Software familiarization
  – Power specifications


• Lots more to do! Refer to schedule.
Mine Marker
Mine Marker
Mine Marker




  Top View
                    Testing
• Designed with testing in mind from the
  start
  – Debugging systems
  – Build own test bed…
     • Test mines (ordered)
     • UXBs
     • Buildings
      Summary




                10”
11”
Questions?

								
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