2004 CAPSTONE PDR
TEAM S.A.F.E. MEMBERS
•Sean Groves
•Alex Henriquez
•Shannon Lahr
•Aaron Lyons
•Anders Fornberg
Lahr,Fornberg,Groves,Henriquez,Lyons
Overview of Presentation
•Purpose
•Objectives
•Description
•System Approach
•Considerations
•Risks
•Contingency Plans
•Tasks
•Division of Labor
•Project Schedule
•Extended Functionality
•Cost Estimate for S.A.F.E.
Lahr,Fornberg,Groves,Henriquez,Lyons
Purpose:
S.A.F.E. (Systems for a Accident Free Enviroment)
Last year, there were 6.3
million car accidents, many of
which were easily preventable.
The purpose of our project is
to develop a prototype system
that will minimize these
accidents and could eventually
be expanded for commercial
applications.
Lahr,Fornberg,Groves,Henriquez,Lyons
Description
• Modified RC car that can sense an accident threat
and take corrective action
• Detects and Prevents multiple accidents
• Head on Collisions
• Merging into blind spots
• Backing into Stationary Objects
Lahr,Fornberg,Groves,Henriquez,Lyons
Objectives
•Develop 4 Sensor Unit Array
•Sense Objects from Multiple Directions
•Detect Relative Speeds of Approaching
Objects
•Develop Multi-Severity Level Avoidance System
•Gives Audio and Visual Warning to User
when Object is Determined a Threat
•Overrides Manual Controls When Direct
Avoidance Action is Needed
Lahr,Fornberg,Groves,Henriquez,Lyons
Baseline Functionality
•
•
•
Detects speed and distance from four
directions
Provide audio and visual warning when
accident threat is detected
Override control from user to prevent
accidents
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
LIGHT TONE
Visual Warning
BLUE LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
LIGHT TONE
Visual Warning
BLUE LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
LIGHT TONE
Visual Warning
BLUE LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
LIGHT TONE
Visual Warning
BLUE LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
LIGHT TONE
Visual Warning
BLUE LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Head on Collisions
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
USER
Audio Warning
LIGHT TONE
Visual Warning
BLUE LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
USER
Audio Warning
LIGHT TONE
Visual Warning
BLUE LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
USER
Audio Warning
LIGHT TONE
Visual Warning
BLUE LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
S.A.F.E.
Audio Warning
LOUD TONE
Visual Warning
RED LED
Lahr,Fornberg,Groves,Henriquez,Lyons
Merging Accident
System Status
RC Controller
USER
Audio Warning
NONE
Visual Warning
NONE
Lahr,Fornberg,Groves,Henriquez,Lyons
System Overview
Transmitter
Sensors
Receiver
Core
Motor
Control
Car
Assembly
Lahr,Fornberg,Groves,Henriquez,Lyons
Sensors
•
•
•
Low Power for Extended Battery Life
Determines Data based on a position
vector
Ultrasonic Sensor Package
•
Compared to Sonar and IR
Lahr,Fornberg,Groves,Henriquez,Lyons
Control Core
•
•
•
•
•
Processes Data from the Sensors
Polls Until Event Detected
Outputs Audible Warning
Blocks Transmitter Instructions to the
Motor Control
Outputs Corrective Movement Data
Lahr,Fornberg,Groves,Henriquez,Lyons
Core Continued
Lahr,Fornberg,Groves,Henriquez,Lyons
System Continued
Lahr,Fornberg,Groves,Henriquez,Lyons
Motor Control
•
•
•
Interprets Signal between the Receiver
and the Core through a Mux
Servo Motors used for Movement
Control
Pulse Width Modulated Electronic Speed
Control
Lahr,Fornberg,Groves,Henriquez,Lyons
Car Assembly
•
•
Mounting for Control Board
Structural Modifications to Ensure
System Integrity
Lahr,Fornberg,Groves,Henriquez,Lyons
Software Design
•
Use a free-ware C compiler
Lahr,Fornberg,Groves,Henriquez,Lyons
Initial Power Requirements
•
•
•
•
All Power Supplies Regulated
5V for Microcontroller
3.3V for FPGA and other board
components
7.2V Battery for RC Car
Lahr,Fornberg,Groves,Henriquez,Lyons
Considerations
• RC Car Complexity
• Damage to RC Car
• Damage to our Main Board
• Crashing during testing
• Stability of our Mounted Board
• Hard to detect objects
• Table’s leg
• Sensor array field using 4 ultrasonic sensors
• Receiver may not output 50 Hz PWM signal for
motor control
Lahr,Fornberg,Groves,Henriquez,Lyons
Risks
• RC Car Modification:
• Unexpected Complexities
• Steering Control
• Motor Control
• Speed Modification
• Damage to our mounted board during final
testing.
• Schedule uncertainty do to unforeseen
complications during RC car modification.
• Verilog learning curve
Lahr,Fornberg,Groves,Henriquez,Lyons
Contingency Plan
• Use extra sensor to increase sensor
array field.
• Use kill switch to avoid further damage
after unexpected crashes
• Program FPGA without verilog.
• Replace factory motors with familiar
motors
Lahr,Fornberg,Groves,Henriquez,Lyons
Tasks
• Software Development
• Core Microprocessor
• RC Car Test & Modification
• Sensors
• Motor Control
• Power
• Documentation
Lahr,Fornberg,Groves,Henriquez,Lyons
Division of Labor
• Aaron Lyons
• Sean Groves
• Software Development
• Sensors
• Core Microprocessor
• Power
• RC Car Test &
• Motor Control
Modification
• Shannon Lahr
• Alex Henriquez
• Power
• Core Microprocessor
• Motor Control
• Software Development
• RC Car Testing
• Sensors
• Everyone
• Anders Fornberg
• Motor Control
• RC Car Test
• Core Microprocessor
• Documentation
• Project/Deadline
Management
Lead for the task
Lahr,Fornberg,Groves,Henriquez,Lyons
Project Schedule
Lahr,Fornberg,Groves,Henriquez,Lyons
Extended Functionality
•Advance the algorithm for better accident
avoidance
•Detect more road hazards such as ice, oil, cliffs,
and animals
•Prevent accidents at faster speeds
Lahr,Fornberg,Groves,Henriquez,Lyons
Cost Estimate for S.A.F.E.
Description
Price
Quantity
Total
Processor
Motorola HC11
$0
1
$0
RC Car
Rustler by Traxxas
$165.00
1
$165.00
Battery
Charger
AC/DC Charger
$40.00
1
$40.00
Battery
7.2V Battery
$15.00
2
$30.00
Sensors
Ultrasonic
Jameco #: 136653
$5.00 - $10.00
4
$20.00- $40.00
All Misc.
Product
Total
Lahr,Fornberg,Groves,Henriquez,Lyons
$50.00 -$150.00
$50.00 - $150.00
$305 - $425
QUESTIONS???
Lahr,Fornberg,Groves,Henriquez,Lyons