Poetry in Motion The Ruff Ryder Experiment

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					Poetry in Motion
 The Ruff Ryder Experiment




                         Project #26
                       TA: Matt Olson
                       Nick Bafaloukos
                          Jerry Kao
                         Samit Patel
                  Introduction
Multi-Rover Network Lab – Professor Bullo
Project Goals
   Utilize GPS and compass data to track the relative
    positions of 2 vehicles
   Transmit GPS coordinates of a manually- controlled
    “prey” vehicle to an autonomous “predator” vehicle
    through wireless communication
   Allow the “predator” to compare its location to that of
    the “prey” and take the necessary measures to
    “chase” it
             Objectives
Interfacing GPS and compass with test board
Setting up a private network between “prey”
and “predator”
Allowing for data transmission/acquisition
between the “predator” and the “prey”
Implement a basic comparison algorithm in
conjunction with a control code that allows the
“predator” to determine its location and
successfully “chase” the “prey”
             Control Flow

GPS Data                       Wireless       "Predator"
                "Prey"           DATA       (GPS & Compass
Collection   (GPS enabled)   Transmission      enabled)



                                             Comparison
                                              Algorithm


                                               Control
                                              Command
                                               ("Chase")
                      Hardware
Traxxas E-Maxx Electric Monster Truck                $369.99
   Properly sized to fit PC104 board and sensors
   20 minutes of continuous running
   Mounting brackets for embedded system control
   2 6-cell, 7.2 Volt batteries
Garmin GPS 36                                        $170
   Differential correction capabilities
Garmin GPS 16 LV                                     $180
   WAAS correction capabilities
   NMEA 0183 data communication
   RS-232 serial connection
   PS/2 power connection (3.3 to 6 Vdc regulated)
   No bundled software
Vector 2x Compass                                    $50
   TTL compatible @ 5 Vdc regulated
   Interface needed (parallel port chosen)
   No bundled software
   Parallel port protocol
Vector 2x Pin-out
              Hardware (cont’d)
Pontech SV203B Servo Controller                       $59
   RS-232 serial connection @ 4.8V to 6.0V
   ASCII character strings commands
Jumptech VNS-786 PC104 board                          $900
   12 Vdc input for 5 Vdc – 12 Vdc operations
   NoMein Nickel Metal-Hydride battery (@ 9.6 Vdc)
   Astrodyne DC/DC converter (20W)
       30 minutes of available run time
HP 802.11b Wireless-LAN Card                          $90
   DSSS: direct sequence spread spectrum
PCC-104A+ PCMCIA Card Adapter from Adastra            $136
          Software Overview
GPS code
   Allows the GPS unit to display data on the PC via the
    serial port


Compass code
   Allows the compass to display data on the PC via the
    parallel port
    Software Overview (cont’d)
Socket code
   Allows the “predator” to bind to a specific IP address
   The “predator can then listen to that IP by opening up
    a port
   Opens up the lines for data transmission/acquisition


Servo Controller code
   Instructs the “predator’s” movement in accordance
    with its relative position to the prey
    Software Overview (cont’d)
Multi-threaded code
   Incorporates GPS, compass, socket, and servo
    controller code into one main code composed of 4
    threads
   Allows the “predator” to create a listening socket for
    GPS data acquisition from the “prey”
   Comparison code then allows the “predator” to
    determine its relative position to the “prey” by utilizing
    its own set of GPS and compass data
   Servo code finally instructs the “predator’s”
    movements as specified by the comparison code
         Software Overview (cont’d)
    Comparison scheme
                                                             Outside Inputs
                                                 Coordinates & GPS signal quality for Car 1
                     Distance (eg. 30 meters)    Coordinates & GPS signal quality for Car 2
                                                      Orientation for Car 2 (Degree2)
         Car 1


                                                              Other Variables
                                                                  Degree 1
Degree1 (eg. 120º)                                                Distance

                                                              Instructions
                             Degree2 (eg. 45º)     WHILE (signal quality is NOT BAD)
                                                  If Distance > 10 meters, go FORWARD
                                                      If Degree1 > Degree2, turn LEFT
                                                    If Degree1 < Degree 2, turn RIGHT
                                                   If Degree1 = Degree2, go FORWARD
                                                                 Else STOP
  Field Testing of Sensor Inputs
• GPS Accuracy to determine how close we know the actual
  positioning of one car relative to another car
• Used different days, different conditions, different GPS
• Open field no obstructions
                                                First Readings

                        0.8950

                        0.8940


                                                                                                 Clear
                        0.8930
   Latitude 4006.XXXX




                                                                                                 1st GPS
                        0.8920

                        0.8910

                        0.8900
                                                                                                 WAAS Readings
                        0.8890

                        0.8880

                        0.8870

                        0.8860
                             0.6760   0.6780   0.6800     0.6820      0.6840   0.6860   0.6880
                                                    Longitude 8813.XXXX
                                               Cloudy
                                               1st GPS
                                               Lost one satellite
                                               WAAS readings

                                               Second Readings

                     0.8950

                     0.8940
                     0.8930

                     0.8920
Latitude 4006.XXXX




                     0.8910
                     0.8900

                     0.8890
                     0.8880

                     0.8870
                     0.8860
                     0.8850

                     0.8840
                          0.6740   0.6760   0.6780    0.6800    0.6820     0.6840   0.6860   0.6880
                                                     Longitude 8813.XXXX
                                                 Cloudy
                                                 2nd GPS
                                                 Lost one satellite
                                                 WAAS readings

                                                 Third Readings

                     0.8950

                     0.8940

                     0.8930

                     0.8920
Latitude 4006.XXXX




                     0.8910

                     0.8900

                     0.8890

                     0.8880

                     0.8870

                     0.8860

                     0.8850
                          0.6740   0.6760   0.6780    0.6800    0.6820     0.6840   0.6860   0.6880
                                                     Longitude 8813.XXXX
                                                 Clear
                                                 2nd GPS
                                                 WAAS readings


                                                Fourth Readings

                     0.8950
                     0.8940
                     0.8930
Latitude 4006.XXXX




                     0.8920
                     0.8910
                     0.8900
                     0.8890
                     0.8880

                     0.8870
                     0.8860
                     0.8850
                          0.6740   0.6760   0.6780     0.6800   0.6820     0.6840   0.6860   0.6880
                                                     Longitude 8813.XXXX
                                   GPS coordinates consistent
                                   Standard Deviation = 0.7 m


                                                 All Coordinates

                     0.8950
                     0.8940
                     0.8930
                     0.8920
Latitude 4006.XXXX




                                                                                                   First
                     0.8910
                                                                                                   Second
                     0.8900
                                                                                                   Third
                     0.8890
                                                                                                   Fourth
                     0.8880
                     0.8870
                     0.8860
                     0.8850
                     0.8840
                          0.6740    0.6760   0.6780   0.6800   0.6820   0.6840   0.6860   0.6880
                                                  Longitude 8813.XXXX
                                               Testing the GPS next to CSL
                                               5 meters from building
                                               20 meters away from each other



                                   -Clear                                                                                                    -Cloudy
                                   -No WAAS Readings                                                                                         -No WAAS Readings
                                   -3 satellites                                                                                             -3 satellites


                                   Day 1 GPS Coordinates Next to Building                                                                      Day 2 GPS Building w/lost Satellite

                     0.9020                                                                                                    0.9150

                     0.9000                                                                                                    0.9100




                                                                                                          Latitude 4006.XXXX
Latitude 4006.XXXX




                     0.8980                                                                                                    0.9050
                                                                                                  South                                                                                            South
                     0.8960                                                                                                    0.9000
                                                                                                  North                                                                                            North
                     0.8940                                                                                                    0.8950

                     0.8920                                                                                                    0.8900

                     0.8900                                                                                                    0.8850
                          0.6150   0.6160   0.6170   0.6180   0.6190   0.6200   0.6210   0.6220                                     0.6100   0.6200   0.6300   0.6400   0.6500   0.6600   0.6700
                                                Longitude 8813.XXXX                                                                                    Longitude 8813.XXXX
                      Limitation of GPS next to buildings
                      Stop cars once GPS or WAAS signals lost


                                               All Coordinates

                     0.9150

                     0.9100
Latitude 4006.XXXX




                     0.9050

                                                                                         South
                     0.9000
                                                                                         North

                     0.8950

                     0.8900

                     0.8850
                          0.6100   0.6200   0.6300   0.6400   0.6500   0.6600   0.6700
                                             Longitude 8813.XXXX
                                Compass testing


                                       Compass Tilt Error

                  120

                  100
Error (Degrees)




                  80

                                                                      X Tilt
                  60
                                                                      Y Tilt
                  40

                  20

                   0
                        0   5     10         15        20   25   30
                                   Tilt Angle (Degrees)
                  Difference in tilt error due to orientation of the
                   compass in relative to the Earth’s magnetic field


                        Compass Tilt Error w/Regression                y = 1.0337x2 - 5.1201x + 7.7045
                                                                                R2 = 0.9938
                  120

                  100

                  80                                                                     Y Tilt
Error (Degrees)




                                                                                         X Tilt
                  60                                                                     Poly. (Y Tilt)
                                                                                         Linear (X Tilt)
                  40

                  20
                                                                                      y = 5.1538x - 6
                   0
                                                                                        R2 = 0.993
                        0   2.73 5.44 8.13 10.8 13.4 15.9 18.4 20.8 23.2 25.4 27.5
                  -20
                                          Tilt Angle (Degrees)
        Testing the Controller
Servo Controller
   Communicates via serial port
   Utilized 2 of 8 servo motor controllers
       Speed control
       Steering
Tested through remote-login into vehicle
   Controlled the speed and steering through the
    use of a shell script which allowed for user
    input as a means of a “remote control”
             Integration
Implementation of a very compressed (2.5
MB) Linux distribution on the “predator”

Statically compiled executables into
binaries

Remotely accessing the “predator” vehicle
in order to commence the “chase”
              Challenges
Hardware inefficiency
   Garmin 36 vs. Garmin 16
   Limited on-board memory
      Flash Memory
      Data Warehousing
   Power availability
   Mounting hardware issues
          Challenges (cont’d)
Software inefficiency
   Linux – uncharted territory
      Linux Router Project
   Wireless network authentication by vehicle
   Initial data acquisition by GPS
   Initializing all of the individual threads in order
    bring all of the code together
              Successes
Interfacing compass and GPS with PC
Successfully setting up a private network
between the PC and the “predator” over wireless
LAN
Implementing multi-thread code allowing for data
transmission/acquisition, position comparison,
and proper “chase” instructions
Accurate localization of vehicles using sensors

    ALL OBJECTIVES ACCOMPLISHED!
   Recommendations
Buy a three-axis compass to increase the
accuracy of the compass
Larger disk-on-chip hard drive
Determine sharpness of turns in accordance to the
angle variation of the two cars
Modify transmission method to incorporate
multicasting (allows multiple-cars to be running on
the same network)
         Special Thanks
Professor Francesco Bullo
Graduate Assistant Timur Karatas
Graduate Assistant Karl Robrock
Professor Christoforos Hadjicostis
TA Matt Olson
Questions?

				
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