Alex Waskiewicz
Andrew Bousky
Baird McKevitt
Dan Regelson
Zach Hornback

 Project Main Objectives
 Outline of Approach
 Implementation of Sub-Systems
 Division of Labor and Responsibilities
 Schedule
 Risks and Contingency Plan

Baseline Functional Description
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The human user will be able to drive the rover
Rover will calculate its location and bearing
Rover will transmit telemetry to the user
The user will command the rover
Rover will sense and avoid obstacles
Rover will autonomously maneuver to its assigned destination

Extended Functional Description
 Rover could have onboard camera(s) providing visual feedback to user.
 Rover could be able to carry and deploy instrumentation packages
– Rocket launch platform
– Environmental sensors
– Mechanical Manipulator

Drive

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Traxxas Rustler
– 445x311x178 mm
– 1.69 kg
– Top Speed 35 mph
– $203 with batteries
– High Load Capacity
– Replaceable parts
Electronics Platform
– Attaches to the chassis
– Carries electronics, sensors, and batteries
– Interfaces directly with car controls
– Weight and Size are constraints

 GPS module
 Digital compass
 Proximity sensors
 RPM monitors
 Control block
 2-way RF communication link
 Power system

Digital
Compass
GPS
Module
Proximity
Sensors
Laptop PC RF Link Control Block
Wheel
Encoders
Motor

 Vehicle control
 GPS Interface
 Coordinate Tracking
 Pathfinding
 Collision Avoidance & Sensors
 Communication
 Possible Reprogramability
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–
Preserve stop functionality & remote programming
Receiver Transmitter Pairs

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Requires transmitter/receiver and interface board.
EM406 SiRF III
Evaluation Board - RS232
- $30
20 Channel EM-406 SiRF
III Receiver with Antenna
- $60
Concerns: Interfacing eval board with PC & resolution of GPS
(10meters listed)

 4800bps
 UART
 Analog or digital modes
 $15
 Variable range with transmitted voltage
 Sparkfun

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$60
½ degree resolution
 I 2 C interface
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Provides excellent tracking coordination with GPS sensor http://www.sparkfun.com/commerc e/product_info.php?products_id=79
15

 Measure speed and distance traveled
 Along with Digital Compass provides backup and coordination with GPS tracking
 Buy or Build?
 Optical Encoder
– Black and white “spokes” on inside of wheel

 Xilinx CPLD or
FPGA to sample sensors and place sensor data in external memory
 May use extra logic to control motors if
PWM block is inaccessible
Sensor 1 Sensor 2 Sensor 3
Logic
External RAM
Microcontroller

 Required
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– Dedicated data and address busses to external memory
Wishlist: ability to “easily” interface with peripherals
– Onboard ADC(s)
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Onboard PWM
Onboard I 2 C module, or other serial communication protocol

 Use: 2 sensors, one forward, one downward
– Provides obstacle avoidance and drop-off detection
 Options:
– Ultrasonic: Devantech SRF08 Ranger ($62)
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6m range
I 2 C interface
– IR: Sharp GP2Y0A21YK ($12)
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80cm range
Analog interface
 Sensor configuration

 2.5V, 3.3V, 5V systems (potentially)
 Use of two 9V batteries in parallel:
– Won’t need more than 9V, will provide sufficient energy
 Use of 3 voltage regulators
– Simple and cheap

ALEX ANDREW
•Car
Interface
•GPS
•CPLD
•Software
•Chassis
Mount
•Perf
Board
•RF Link
•Power
BAIRD DAN ZACH
•Car
Interface
•Chassis
Mount
•Sensors
•Organize
Documents
•Car
Interface
•Power
•RPM
Monitors
•Digital
Compass
•GPS
•Sensors
•CPLD
•Digital
Compass
•Software

Done
In progress
Not started

 Parts availability and shipping times
 Cost
 Interfacing with the Car
 Providing sensor data to the microcontroller
 RF communication
 Component failure