ECE 477 Design Review Team 8 Spring 2008 Mike Cianciarulo, Josh Wildey, Robert Toepfer, Trent Nelson
Outline Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation PCB layout Software design/development status Project completion timeline Questions/discussion
Project Overview Part of solution for Purdue IEEE Aerial Robotics team that competes in I.A.R.C. Autonomously navigated rover Control vehicle motion (Direction and Speed) Static sensors interfacing and filtering using μc Structural detection/avoidance Room mapping algorithms (SLAM) Image capturing Compressed image relay to base station Simple Logo identification Wireless (bi-directional) data relay in urban setting 802.11b/g (TCP/IP)
Project-Specific Success Criteria 1. An ability to control vehicle direction and speed. 2. An ability to detect and avoid obstacles. 3. An ability to autonomously map room and determine vehicle path. 4. An ability to capture still images. 5. An ability to identify a logo within a captured image.
Block Diagram
Component Selection Rationale Embedded Computer Requirements Enough computational power for image recognition and room mapping algorithms Small size and robust Interface with μc (UART), Camera (USB), wireless communications Microcontroller 6 ADCs, 3 PWMs, UART, I 2 C
Component Selection Rationale Embedded Computer Gumstix XL6P Adequate computation power (600 MHz) Very small form factor 80mm x 20mm 128 MB of RAM RS232 serial to sensors uc Host mode USB to camera Low power (5 V, common to other devices) Ethernet connectivity Triton 320 Maximum of 800 MHz DIMM200 Slot Hard to find small wireless card to connect via PCMCIA Uncommon power requirements (1.8 V) Poor documentation
Component Selection Rationale Microcontroller ATmega32 Satisfies all on-chip peripheral requirements Development board already on-hand Familiarity with Atmel microcontrollers Already have DIP and QFP packages of ATmega32 Motorola HCS12 Satisfies all on-chip peripheral requirements
Packaging Design Very few packaging constraints Size and weight IR minimum range Wide enough for motors
Packaging Design
Schematic/Theory of Operation
Schematic/Theory of Operation
Schematic/Theory of Operation
Schematic/Theory of Operation Part Voltage Rail Max Current Units Quantity Total Current Gumstix 5 V 0.5 A 1 0.5 ATmega32 5 V 0.015 A 1 0.015 IR(long) 5 V 0.33 A 2 0. 66 IR(short) 5 V 0.05 A 2 0.1 Sonar (I2C) 5 V 0.5 A 4 1 H-Bridge 5 V 0.01 A 2 0.02 Accelerometer 3.3 V 0.0008 A 1 0.0008 Magenetometer 3.3 V 0.001 A 1 0.001 Motor V batt 2.05 A 4 8.20 Total Current Draw 5 V Rail 2.301 Total Current Draw 3.3 V Rail 0.0018 Total Current Draw from V batt 10.5
PCB Layout Major Current Draw Gumstix, camera, wireless Micro, sensors, motors Size and weight Needs to fit on helicopter Data Accurate and precise Reliable
PCB Layout Use headers to interface Components pre-packaged Sensors go on top Motor Controller on bottom Gumstix, camera, wireless too big
PCB Layout Sections Power 1-3.3 Volt regulator 2-5.0 Volt regulator Battery Analog ADC lines for IR and Motor Controller Digital
PCB Layout Microcontroller Bypass Capacitors LC for ADC Power Regulators have bypass capacitors 2 5.0 Volt at 1A each Gumstix Everything else
PCB Layout
PCB Layout Sonar Level Trans IR Power
PCB Layout ADC Lines
PCB Layout 3.3 V and 5.0 V for Gumstix
PCB Layout Arrangement
`PCB Layout Capacitors and LC
PCB Layout Copper Pour
PCB Layout 3.5 x 2 Copper Pour Changes Headers smaller Route 5 V to sensors Less white space
Software Design/Development Status
Software Design/Development Status
Project Completion Timeline Month Week Task March 1 2 3 4 Interface/test motor controller Receive Gumstix expansion boards Finalize PCB Replace bad magnetometer Order final quantities of sensors Interface Gumstix with camera and base station Test cross compiled OpenCV library Get basic operation of micro controller with all peripherals at once Establish communication between Gumstix and microcontroller Detect obstacles on microcontroller Choose SLAM algorithm Implement SLAM algorithm Debug April 1 Debug 2 3 Debug Complete design Start on final report 4 Complete final report
Questions / Discussion