Transcript Project Summary ()

P09204 – 1kg Robotic Platform
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This project is Sponsored by the Kate Gleason
Foundation.
Team Members:
Nandini Vemuri
Jason Jack
John Corleto
Emily Phillips
Ryan Schmitt
Jeffrey Howe
→ Team Lead, System Testing, Motor
Expert
→ GUI Design, Microcontroller Expert,
Website Administrator
→ PIC Expert, Software Designer
→ Power Systems Design, Financial
Management
→ Wireless Systems Design, Software
Designer, Website Administrator
→ PCB Layout Design, Voltage Regulation
Expert
Project Description
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• Provide a product line of off-the-shelf
motor modules and platforms for diverse
applications
• Scalable, modular, robust wheeled
platform to carry payloads of 1kg mass
• Open architecture, Open source
development
• Target audience is educational and
outreach programs
Customer Needs
•Support 2 motor modules •Battery Life
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•Graphical User Interface
•Robust
•Scalable, Modular
•Use open source, open
architecture components
•Wired and wireless
communication interface
•Multiple levels of
complexity
•Thorough
Documentation
System Level Block Diagram
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Software Layer Diagram
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In House Power Distribution
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•By using two separate
batteries, the system will be
more modular, by allowing
the motor battery to be
adjusted based on the type of
motor being used.
•These boards have safety
factors built in, including
fuses to protect the rest of
the circuit, and abundant
reservoir capacitors to weed
out power fluctuations and
current spikes.
In House DC Motor Driver
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• The DC motor driver is controlled via a
programmable PWM signal, and two discrete inputs.
• One discrete input is reserved for enabling or
disabling the driver entirely while the other is used
to drive the motor in forward or reverse directions.
Electrical Interconnect
Diagram
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9V
POWER
DISTRIBUTION
9V battery
GND
CROSSBOW
MICROCONTROLLER
RS232
5V DC
MICROCONTROLLER
GND
5V GND
GND
PIC
FEEDBACK PIC
5V
Enable 1
12V battery
Relay
STEER
MOTOR
Enable 2
Relay
DRIVE
MOTOR
12V
Sequence Diagram
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• User communicates with the robotic platform
through a wired or wireless communication link
(using a Desktop or Laptop PC)
• Microcontroller interprets commands and
converts them to logic and timing signals used by
the motor drivers
Risk Analysis of Electrical
Components
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• Control System
– Loss of communication via I2C bus
– Cost in space for multiple PICs
• Power System Failure
– Thermal Damage
– Current overdraw
• Cabling Issues
– User Error
– Dense cabling inside control system
– Non-twisted pair susceptible to noise
Risk Analysis of Computer
Components
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• Microcontroller System
– Multiple access mitigation
– Communication bus latencies
• Remote Control System
– Wireless Communication
– Communication with Microcontroller
• Navigation System
– Accounting for acceleration
– Steering motor feedback (if not servos)
– System complexity of flexible choice of
motors for drive and steer
Total BOM Cost
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Mechanical Cost Breakdown
$???.??
Electrical Cost Breakdown
$700.00
Total:
Lot of One – $700.00
Lot of Ten – $7000.00
Senior Design – Next
Steps
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• Test plan
• Receive parts
• Navigation code development on
microcontroller
• Wireless code development on
microcontroller
• GUI development
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Questions?