Team Ocho Cinco
Raymond Chen
Zhuo Jing
Brian Pentz Kjell Peterson
Steven Pham
The Ocho Cinco Mobile
(OCM)
Purpose
•
•
•
•
•
Touch-screen interface
Analog path controlled navigation
Obstacle avoidance
Remote terrain mapping
Bluetooth communication
Objectives
• Minimum: Design a vehicle controlled remotely
by drawing a path on a handheld touch-screen
computer.
• Target: Include obstacle avoidance feature with
minimal path deviation. Utilize Bluetooth to
provide real-time stats to touch-screen
• Optimal: Implement terrain and obstacle
mapping capabilities updating the map in realtime.
Overall Block Diagram
Subsystem:
Bluetooth Link
• Benefits
– Low Power
– Desired Range (30ft)
– Built into TSC
• Easily Realizable
– Built in UART
– Reliable Link
– 2000kbps+
transmission speeds
Subsystem:
Touch-screen Controller (TSC)
Hewlett Packard iPaq h2200
• Intel PXA255 XScale processor @ 400
MHz, 64 MB of SDRAM, and 32 MB of
ROM.
• 4.54 x 3.0 x 0.61 inches, 5.1 ounces.
• Runs Microsoft Windows Pocket PC 2003
TSC: Graphical User Interface
• Predefined Obstacles (Defined on the initial
map) are shown in blue.
• Draw the desired path using the touch-screen.
• The currently completed path is shown in green,
and new obstacles are shown in red.
Subsystem:
Regional Positioning System
• Keys to Success
– Omni-directional
– Accurate and live
• Method 1 - RF Chirps
– Power drop-off analysis
– RF transceivers for beacons and the
vehicle
– Pros: Straight-forward setup
– Cons: Poor accuracy and sensitivity
Subsystem:
Regional Positioning System
• RF Chirps
Subsystem:
Regional Positioning System
• Method 2 - Cameras
–
–
–
–
Two camera beacons
LED tracking on vehicle
Pros: Better accuracy and sensitivity
Cons: Complicated setup
Subsystem:
Regional Positioning System
• Camera Beacons
Subsystem:
Power
Subsystem:
Battery
Sealed Lead Acid Battery
• 12V, 3.2AH
• Weight: 1300g (2.87lb)
• Dimension: L134mm x W67mm x H60mm
Subsystem:
Motor
Subsystem:
Motor
S23HT140-S Stepper Motor
• Step Angle: 1.8 Deg/Step
• 4 Wires
• Phase Current: 2.8A/PH
• Step Accuracy: +/- 5%
Subsystem:
Motor Layout
Subsystem:
Collision Detection System
• Infrared Proximity Sensor
– Sharp GP2Y0A21YK
• Detection Features
– Distance: 10 to 80 cm
– 12 cm detection diameter
• Feasibility
– A/D converter to FPGA
– More economical than sonar
Subsystem:
Collision Detection System
• Map Updates
– Simple
• Uniform obstacle detection
– Advanced
• Variable shape and size
Responsibilities
•
•
•
•
•
Touchscreen Controller – Kjell Peterson
Bluetooth – Brian Pentz
Regional Positioning System – Raymond Chen
Motor/Power – Zhuo Jing
Collision Detection System – Steven Pham
Project Timeline
Risks / Contingency Plans
• Unfamiliarity of RPS technology
– Motor step approximation
• Complex integration
– Integrate fundamental components first
• Radio frequency interference
– Use adaptable technology
• Windows Mobile 2003
– Scale down GUI
• Overheating
– Add fan or heat-sinks
Questions?