Transcript Critical Design Review (CDR)

KIFT
Knight Industries Five Thousand
Critical Design Review
Group 7
Jason Dumbaugh
Artiom Bell
Koltan Riley II
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Project Objectives
• To build a fun, working Senior Design project that won’t break
the bank.
• To introduce a project that is useful to the military, as well as
other government agencies.
• To introduce a product that the everyday consumer will be able
to use.
• To learn the dynamics of as many electrical components as
possible (Bluetooth, GPS, Microcontroller programming,
sensors)
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Inspiration
Knight Rider’s K.I.T.T. had:
• Turbo Boost – allowed KITT
to reach speeds in excess of
200 MPH
• Pursuit Mode – high-speed
driving mode where KITT
was in control of the car
• Infrared Tracking Scope –
allowed KITT to sense
objects within 10 miles
• Flame Thrower – Two flame
throwers were located on
KITT’s bumper
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Key Design Objectives
KIFT will have:
• A regular RC car motor, no 200 MPH speeds here.
• Pursuit Mode – KIFT will be able to drive itself using GPS
waypoints for guidance.
• Tracking Scope – KIFT will be able to sense dangerous walls
and other objects and maneuver around them.
• Remotely controlled through a Bluetooth controller.
• NO Flame throwers, they would melt KIFT.
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Block Diagram
Bluetooth
Controller
Bluetooth
Module
GPS
Sensor 1
Microcontroller
Sensor 2
Sensor 3
Sensor 4
Drive Train
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Bluetooth Controller
Playstation3 SIXAXIS
• Bluetooth Capabilities
• The Range of Motion within
30 ft.
• SIXAXIS™ Technology
• Battery Life ( 30 Hrs.)
• Rechargeable (USB Charger)
• High amount of input
buttons
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Chassis Selection
Hitari K.I.T.T.
• Replica of vehicle in Knight
Rider
• Cost Efficient for a RC
Vehicle ($65 USD)
• K.I.T.T. comes full assembled
• Full assembly becomes
difficult for modification in
being able to manipulate
the equipped circuit cards.
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Chassis Selection
Evader
• relatively similar in size
compared to K.I.T.T.
• Reasonable cost for a Hobby
RC Vehicle ($100 USD)
• Due to the minimal use of
Circuit cards used in the
Evader, our necessary
modifications can be easily
made to the vehicle.
• Ample space for our
equipment.
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Microcontroller Selection
LPC2148
• 60MIPs ARM processor with 512k
flash
• Runs with simple robust protocol
on UART, SPI, I2C
• All FAT, USB, and peripherals are
accessible from Java Programs
• USB device
• All I/O pins are 5 V tolerant
• Enumerates as a USB mass storage
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Microcontroller Dev Board
Uberboard
• Socket for EM-408 SiRF
III GPS receiver
• Socket for BlueSMiRF
short range RF modem
• Socket for micro SD card
(up to 2GB)
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Microcontroller Dev Board
ALFATxp
• Can be easily used with any
microcontroller including
PIC, AVR
• 2 Serial Ports
• More prototyping room
• Supports MultiMedia Card
(MMC) and Secure Digital
• All features of the
Uberboard
• Java Virtual Machine
• Unoccupied I/Os
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GPS Selection
EM-408
• SiRF III Chipset
• 20-Channel Receiver
• Extremely high sensitivity : -159dBm
• 10m Positional Accuracy / 5m with
WAAS
• Hot Start : 8s / Warm Start : 38s / Cold
Start : 42s
• 75mA at 3.3V
• 20gram weight
• Outputs NMEA 0183 and SiRF binary
protocol
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Bluetooth Chip Selection
STMicroelectronics
GS-BT2416C1DB
• Onboard USB port for easy
programming
• Integrated Antenna
• Class 1: ~100m range
• USB, UART, PCM, SPI
• Low Power Consumption
• Cheap ~$50
• One Problem… no HID profile!
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Bluetooth Chip Selection
Bluegiga WT32
• HID (Human Interface
Device) profile and many
others
• Bluetooth 2.1 compliant
• Integrated Antenna
• Class 2: ~30m range
• USB, UART, PCM, SPI
• Low Power Consumption
• Cheap ~$50
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Sonar Sensor Selection
Devantech SRF05
• TTL Interface (0 and 1)
• Min range: 3cm radial
• Max range: 4m radial
• 40kHz frequency
• Easy to manipulate
• Moderately priced ~$30 each
• Need 4 sensors
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Power Supply
• Primary: Duratrax Starter
Battery Pack require for the
EVADER.
• Secondary: designed to power
the other electrical
components of the vehicle
(GPS, Bluetooth, Sensors,
Microcontroller)
• Voltage Regulator -LM7805
capable of maintaining output
voltage between 5V-18V.
LM317T capable of
maintaining 1.2V-37V
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Primary Power Supply
Duratrax Starter Box Power
Pak DTXP4600
• Consists: AC wall Charger, 2
1500mAh 7.2V 6 cell flat
battery (Ni-Cd) packs .
• Charger: Capable of fully
recharging the battery pack
in a 2-3 hour time frame.
• Inexpensive ~$40
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Secondary Power Supply
• Source: 9V Battery
• Capable of providing
the necessary constant
voltages to the
electrical components.
• Constant Voltages to
output 5V (LM7805) 3.3
V (LM 371T).
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Wiring of the WT- 32
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Other Interfacing Aspects
• GPS
– Will be connected to the ALFATxp via UART 1
• Bluetooth
– Will be connected to the ALFATxp via UART 2 multiplexed with UART 1
• Propulsion
– The LPC will send out a PWM signal through two I2C ports for
Left/Right and Forward/Reverse controls
• Sensors
– 5 GPIO ports will be used for sensors
– The outbound V+ will be shared but each sensor will have an
individual return line
• Storage
– The GPS waypoints will be saved on the SD card which will function as
the unit’s Hard Drive
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Testing
• Stage 1
– Bluetooth LED Test
– Movement Control Test using direct input from PC (No Bluetooth)
• Stage 2
– Use Bluetooth to operate motion controls
– GPS Coordinate Storage Test
– Sensor Stopping Tests
• Stage 3
– Waypoint finding test
– Object Avoidance Algorithm Implementation
– Integration of Object Avoidance and Waypoint finding
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Projected Timeline
• September: Manually pair onboard vehicle Bluetooth module
with PS3 Controller.
• Early October: Use PS3 Controller to drive KIFT and ensure
proper button mapping and kill switches.
• Late October: Trim GPS streams and ensure they’re properly
saved into KIFT’s memory.
• Early November: Program sensor data and produce object
avoidance algorithm.
• Mid-November: Incorporate object avoidance algorithms with
Pursuit Mode.
• Late November: Acquire final circuit board and install
components. Final testing.
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Kift’s finances
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Project Completion %
•
•
•
•
•
•
•
•
•
Design- 80%
Parts Acquisition-80%
Programming-20%
Bluetooth communication-25%
GPS Communication-0%
Object Avoidance-0%
Prototyping-30%
Testing-0%
Documentation-70%
• Overall-35%
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Image Permissions
The images in today’s presentation were reproduced with permission from:
• Hitari, Inc.
• Sparkfun Electronics
• Acroname
• STMicroelectronics
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Questions?
KITT at CES 2009 in Las Vegas
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