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Xiaobo Zhao, Peter Chen, and Jiajun Wang are proud to propose: by 2m18Zj


									           Xiaobo Zhao, Peter Chen, and Jiajun Wang are proud to propose:

                  Robotic Tracker

    Need Something TRACKED? Need something FOLLOWED? Need to keep your pet AMUSED?
                            Then you need Robo-Tracker 345…

ECE 345 Project Proposal
Team Members: Xiaobo Zhao, Peter Chen, Jiajun Wang
Supervising TA: Paul Leisher
I. Vision:

  Drawing upon the group members’ background in signal processing and radio
  frequency circuit design, we are designing and implementing a system in which a
  robot tracks and follows a moving transmitter with the ultimate goal of catching the
  target. This project is aimed to apply the ideal principles we learned in class to real
  world applications and to challenge us to investigate gaps in our knowledge that are
  vital to becoming a professional engineer.

II. Feature List

  The transmitter and tracker system can be applied to a variety of real world
  applications to aide in target location and acquisition.

  Customer Benefits:
        o Locate and re-acquire any lost or misplaced items, persons, or pets
        o After planting transmitter on unwanted target, can use tracker to guard an
            area from pests (ingested transmitter in mice etc)
        o Keep pets healthy and amused

  Feature List:
         o Wireless, electromagnetic transmitter / receiver array
         o Compact transmitter antenna
         o Directional sensor grid to detect signal
         o Programmable DSP to process sensor outputs
         o Robotic car interface able to navigate in any direction as DSP dictates
         o (Optional) Low voltage inductor shockers to persuade target
III. Design Specifications

3.1 Block Diagram:

3.2 Block Descriptions
      3.2.1 Transmitter

      The electromagnetic transmitter is attached on the target for tracking and

      Feature List:
          Biggest side dimension : 4cm x 4cm x 4cm
          Light as possible
          10 feet broadcast range in air
          Power:
                 o Watch batteries
                 o 1 to 5 volts
          Oscillator:
                 o Specific frequency ( 433.33Mhz to 900 MHz range)
                 o Compact
          o Operating power lower than battery
      Transmitter:
          o Compact
          o Monopole and omni-directional
          o Less than 1 Watt total power

3.2.2 Receiver

The receiver is based on the robotic car. The 4 x Receivers grid acquires signals
transmitted by the transmitter. Receiver circuitry processes the signals and
correctly outputs signals to the DSP for directional analysis.

Feature List:
    Operate under 9 volts
    Compact
    Signal Detection ( Front, Back, Left, Right )
    Tuned to transmitter frequency
    4 x Receivers Grid
           o Receive 433.33Mhz to 900Mhz
           o Compact
           o Microstrip Antennas ( Directional )
    Power
           o Stand-alone 5V / 9V Battery
    Receiver Circuitry
           o Custom made
           o Filter received signal
           o Output signals to Analog Multiplexer
    Other Peripherals
           o Possible Expansion slots
           o Possibilities: Electric Shockers, Computer Interface
    Analog Multiplexer
           o Multiplex between 4 to 8 signals
           o Time Multiplexing
           o Input: Multiplexer selection from DSP
           o Output: The selected signal as chosen by the DSP

3.2.3 Digital Signal Processor
The TI-54x DSP is the central processing unit mounted on the robotic tracker/car.
It’s inputs are signals from the receiver sensor array. The DSP then processes the
signals to triangulate the direction of the transmitter relative to the car and
determines a path to it. The DSP then outputs the direction the car should go to
the car interface.

Feature List:
    Multiplex between input signals when required
    Operate between 5V and 9V
    Fast and reliable location triangulation algorithm
    Averaging buffers algorithm with time-varying weights on samples
    Graceful performance reduction under stress
    Compact and mountable on car
           o Compact
           o Low power consumption
           o Must not significantly decrease car performance
    Inputs: 2 Input
           o 1 multiplexed input ( 2 from receiver circuitry )
           o 1 backup input
    Outputs: 6 Outputs
           o 4 Car steering
           o 1 Activating the weapon (Optional)
           o 1 Backup output

3.2.4 Motors Circuit and Robotic Car
The motor circuit takes in directional output from the DSP and directs CAB
(Current Amplifier Bridge) Modules which outputs the correct currents to the
car’s motors. The car itself is the same car used in ECE 110.

Feature List:
    Provide adequate speed, dexterity, and duration to catch a moving target
    Translate directional output from DSP to correct inputs for car motors
    Able to mount low voltage inductor shockers (Optional)
    Inputs: 4 Inputs (Forward, Reverse, Left Right)
           o Error Detection (Forward and Reverse, Left and Right)
           o Smart navigation to approach target with front of car
    Outputs: 4 Outputs (2 per Motor)
           o Correctly steers car in designated direction
3.3 Performance Requirement
      3.3.1 Transmitter
              10 feet broadcast range in air
              Operate at 10 volts
              Must transmit in the 433.33 MHz to 900MHz range
              Less than 1 Watt total power
       3.3.2 Receiver
              Operate under 9 volts
              Directional microstrip Antennas receiving 433.33MHz to 900MHz
              Must correctly multiplex 4 real time signals to DSP as specified by DSP
       3.3.3 Digital Signal Processor
              Must correctly multiplex between 4 signal inputs
              Low power consumption
              No significant decrease in car performance
              Graceful performance reduction under stress
       3.3.4 Motors Circuit and Robotic Car
              Provide enough speed and dexterity to catch a target moving ~5miles/hr
              Provide pursuit duration of at least 30 seconds
              Always approach the target with the front of the car
              Graceful performance degradation under stress

IV. Verification
4.1 Testing Procedures:
All components are modular and can be independently tested. Module breakdown for
testing purposes is as follows: transmitter, receiver, motor circuits and robotic car, and
integrated testing of the entire system. Integrated testing will consist of exhaustive
testing of all components as dictated below after the complete system has been assembled.
Testing procedure for each module is as follows:

       4.1.1 Transmitter
              Transmit at a frequency of 850 Mhz to 950 Mhz
                   o Use VNA to ensure fundamental mode is in that range.
              Transmit at least a distance of 10 feet
                   o Hook up to antenna and make sure receiver can receive at a
                       distance of 10 feet
              Flat transmission with no modulation required
                   o Provide differing levels of steady un-modulated signal until
                       amplitude triangulation can be performed
              Under 10 volts
                   o Select power supply appropriately
              More than 10 mW of power and under 1 W of power
                   o Use VNA to ensure its functioning
4.1.2 Receiver
      Envelope detection functionality
          o Able to convert a 900Mhz signal to under 20 kHz result
                     Use VNA, Circuit, Function generator, and oscillator.
                      Examine VNA for results.
      Receive at least a distance of 10 feet
          o Hook up to transmitter and make sure receiver can receive at a
              distance of up to 10 feet
      Detectable amplitude difference with different antenna orientation
          o Hook-up receiver circuitry and ensure that signal from different
              antennas have discernable amplitudes given a fixed transmission
      Able to resolve interference issues within standard classroom environment.
          o Test out receiver circuitry in standard classroom environment
              ( ECE345 lab )
      Ensure output to DSP within (-1 ~ 1V)
          o Use VNA, Circuit, Function generator, and oscillator. Examine
              VNA for results

4.1.3 DSP
      Ensure all the inputs are in input range
          o Use VNA, Circuit, Function generator, and oscillator. Examine
              VNA for results
      Ensure functioning algorithm produces correct outputs under all situations
          o Scenarios:
                        When the target is not moving
                               When the receiver circuitry is not moving
                               When the receiver circuitry is moving
                        When the target is moving
                               When the receiver circuitry is not moving
                               When the receiver circuitry is moving
                        More challenging situations
                               When the target is behind the car (challenge is
                                   to catch up with it heads-on instead of simply
                                   moving toward it)

4.1.4 Motor Circuits and Robotic Car
      Error detection (prevent forward and reverse, left and right)
          o Hook inputs up to high and lows to emulate both situations
      Motor circuit functionality
          o Emulate correct inputs to test motor circuit and car direction
      Car dexterity and duration
          o Perform stress tests for rapid turns and long-term durability
      Power
                   o Use Circuit, oscilloscope, VNA, to test power consumption

4.2 Tolerance Analysis
The most critical component in our design with respect to tolerance is our receiver system.
The receiver system has to be able to differentiate which signal is stronger from one of
our four directional antennas. One extreme case of this system would be differentiating
between an object directly in front of the vehicle versus directly in the back of the vehicle;
directly left of the vehicle versus directly right of the vehicle. The other extreme case of
the system would be differentiating the location of the object when it is only moved
slightly in front of an antenna.

V. Cost and Schedule

4.1 Cost Analysis
      4.1.1 Parts
               Digital Signal Processor:
                       TI-54x DSP and Boards                  $1000
                       900 Mhz Phone                          $40
                       Circuitry components                   $20
                       Antenna x 4                            $35 each
                       Amplifiers                             $15
                       Circuitry                              $20
                       Comparators                            $10
                       Mounts / boards                        $20
                       CAB x 4                               $20 each
                       Car                                   $500
                                                      Total: $1805
        4.1.2 Labor
               ($40/hour)*(120 hours)*2.5 = $12,000 per person
               ($12,000 per person)*(3 people) = $36,000

        4.1.3 Total
               Total Cost = $37,805

4.1 Schedule

 Week                         Work Item                             Team Member
 2/10     Proposal Complete                                              All
 2/17     Order parts                                                   Peter
          Preliminary Circuit Design Complete                            All
 2/24     All simulation complete                                        All
       Update circuit designs / part list           Jiajun
       Robotic Car Complete                        Xiaobo
3/3    Transmitter / Receiver Complete          Peter/Xiaobo
3/10   DSP algorithm complete                    Jiajun/Peter
       Begin component testing                        All
3/17   Integration / Testing                          All
3/24   Continue System Integration / Testing   Xiaobo/Jiajun
3/31   Mock demo                                      All
       Final integration tests                        All
4/7    Buffer week                             none hopefully
4/14   Begin Demo/Presentation Preparation            All
       Run final test for Demo preparation            All
4/21   Prepare demo                                   All
       Rehearse presentation                          All
       Start final paper                              All
4/28   Final demo and presentation                    All
       Refine final paper                             All
5/5    Turn in final report                           All

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