Tracking Rover
Team Rubber Ducky
Alex Chi
Joshua Rubin
Alexander Starick
Ryan Ramos
Project Overview
Design a robotic rover IR sensing
and tracking system
 Implement a grabbing device
 Fully autonomous robot powered by
two DC motors
 Implement system to obtain the IR
emitting object

System Diagram
SBC
 TS5600 -Technologic
Systems
 133Mhz AMD Elan 520
(586) Processor
 Compact flash
booting
 On Board DIO
 2 serial ports
 WiFi communication
via pcmcia card
SBC Schematic
68HC11K4 Microprocessor

8 channel, 8 bit A/D
converter
 Pulse Width
Modulation
– Four 8 bit
– Two 16 bit

Allows for Serial
communication
XC9572 CPLD Schematic
Motor Control
Motor speed is directly proportional
to applied voltage
 Will supply pulse to control speed
 Needs a minimum of 2V to be
activated

Grabbing Device
Considering several possibilities
depending on progress made
 A) Linear Actuator (most likely)
 B) Robotic Arm (if time permits)

Power Supply
Buck Converter- voltage supplied by
a battery (12.8-11.5V), controlled by
the PWM chip to adjust the duty
cycle
 Need a constant +5V output for SBC
and sensors

Power Supply Schematic
Comparator Circuit

Add to notify the user when the battery is 25%
charged to avoid completely discharging the
battery
 Give signal to SBC to shut down to prevent
brownouts
 When the voltage drops below 11.5V, LEDs will
turn on- will be necessary to shut down the
system and recharge the battery
IR Sensors

Use IR Receivers and phototransistors
 IR Receiver- sends a digital signal (+5V if
signal detected, 0V if no signal) directly to
SBC
 Phototransistors- Sends a analog signal to
HC11 for a/d conversion (strength of
signal will depend of closeness of object).
Located only on the front side
 Testing of sensitivity in progress…
Parts List

Microprocessor
–
–
–
–
–


– 12 TSOP1156 IR
receiver
– 4 TEKT5400S
Phototransistor
– 15 TSAL7600 IR LEDs
– 2 AA batteries
68M711K4HC11
XC9572
Three 74HC245
AT29C256 ROM
AS7256 RAM
Power Distribution
– Battery
– UC3525, TC427,
passive
components
IR sensors

SBC
– WIFI card
– Flash card
– Flash reader
Budget
-
Robot Assembly -
$350
SBC$300
- Flash Card Reader $70
- Battery + Charger$200
- Passive Components/ Perf Boards/Other $75
- HC11, HC245, CPLD, RAM, ROM Free
- IR Receivers, PhototransistorsFree
- Other
$50
____________________________________________________
Total
$975
-
Schedule
Milestones 1
Create a Software Testbench
 Write manual robot control software
 Complete Testing of full HC11
schematic
 Complete CPLD programming
 Develop IR system

Milestone 2
Create communication S/W for HC11
 Interface HC11 with SBC and motors
 Add bumper sensors

Division of Labor

Joshua Rubin
– SBC S/W, HC11 software

Alexander Chi
– HC11 H/W and S/W, SBC

Alexander Starick
– Sensors, CPLD, Power Supply, SBC, grabbing device

Ryan Ramos
– Sensors, grabbing device, power supply, SBC
Completed Tasks
HC11 awaits simple testing with ROM
 Power supply is complete
 Prototype Puck completed
 Loading of Linux on SCB completed
 Robotic platform completed

Questions?