Capstone Spring 2009
Critical Design Review
HAMSter
Erich Hanke
Erik Larson
Electrical Engineering
Electrical Engineering
Cole Bendixen
Quang Than
Electrical and Computer Engineering
Electrical Engineering
HAMSter Project Overview
Mobile Servo Powered
Cart
 Stereo-Vision Obstacle
Detection
Autonomous Navigation
FPGA Hardware /
Software Control
IR Sensor “Failsafe”
Collision Avoidance
2
Cart Control Systems
GPS
12 Channel Lassen IQ GPS Receiver with
DGPS
RS-232 communication interface.
Uses NMEA 0183 communication protocol.
Programmable output.
IR Sensors
Sharp GP2Y0A21YK0F Analog Distance Sensor
Analog voltage output.
Vref
Servos
•
•
•
•
HSR-8498HB HMI Robot Servo
180 degrees or continuous rotation operation.
Controlled via 340Hz
PWM signal.
Max. CCW
Stopped
1.456 ms
1.497 ms
Max. CW
1.539 ms
Compass
•Honywell HMC6352
•IIC Controlled
•SDA, SCL, +3.3V, Gnd
• 0.5 Degree Heading Resolution
•Write 'A' → Read Direction
Xilinx Virtex 5 FPGA
• 550 MHz Integrated Block
Memory (5MB)
• 6 Clock Management
Tiles CMT
• Dedicated cascade
routing to form 64K x1
Block Memorys
• 1.0 V Core Voltage
• 7 Stage PPC Pipeline
• Multiple IOB Voltage
Support: 3.3V, 2.5V, 1.8V
PowerPC 440
1,100 DMIPS
Up to 550MHz
Out of Order Processing
Branch Prediction
256MB DDR2 200MHz
Cameras
• Videology 20K145DIG
• Digital 8 bit YUV 4:2:2
Output
• 510x494 Active Pixels
• Software Controllable by IIC
• Internal Sychronization
• 5V
• < 0.8 W
Camera Controller
•
•
•
•
IIC Interface to Micro
28.6 MHz Clock
Data on Each Clock
Hsync / Vsync Pins
Camera Board Timing Specs
Stereo Vision
Camera One
d1
Camera Two
Based upon the
phenomena of parallax,
where an observation at
two locations along a
baseline of a common
object appears to cause an
offset of the object. This
offset can be used to
determine relative distance
to the object.
d2
13
Point Spread Function
Simple PSF is applied to the image to
enhance edges.
Parameterized sweeper size and intensity.
Post convolution threshold filter applied.
HDL IMAGE CO-PROCESSOR
PPC HARDCORE PROCESSOR
PPC REG
INTERFACE
CONTROL
REGISTERS
IMAGE PROCESSING
DATA
BUILDER
CONV
IMAGE
BRAM
CONTROL
DATA
BREAKER
DVI CONTROLLER
DVI
SIGNAL
GENERATOR
PLL
RAM BLOCK
Code Flow Diagram
Movement
Stopped
ISR
Position
Evaluation
Frame
Ready
ISR
Orientation
Move and
Wait
Process
Frame
Determine
Path
Process
Objects
IR Sensor
ISR
Servo Controller System
• Memory Mapped Control
Registers
• PWM Generators
For Each Servo:
• Timers
Timer Control Register
Timer
Control Register
Duty Cycle Register
Frequency Register
PWM
Generator
Power Systems
Logic Power System
Servo Power System
GPS
FPG
A
Compass
Camera
x2
Battery 1
ADC
IR
Sensor
x5
OptoIsolator
Servo Motors
x6+
Battery 2
Opto-Isolator
Regulators
IR Comparators
GPS
Board to Board Connectors
Budget
Item Name / Description
Unit Price
Quantity
Sub-Total
After Donations
Xilinx ML507 Virtex 5-FX
Agilent 1692A Logic Analyzer Mictor Probe
Servo-Continuous Rotation Robot Servo
CNT
$1,406.00
$1,150.00
1
1
$1,406.00
$1,150.00
DONATION
DONATION
$79.99
8
$639.92
DONATION
Servo- Positional Robot Servo
$59.99
2
$119.98
DONATION
Lithium Ion Battery Pack: Powerizer 7.4V
$49.99
2
$99.98
$99.98
Powerizer Battery Charger
$20.00
1
$20.00
$20.00
12 Channel Lassen IQ GPS
$59.95
1
$59.95
$59.95
Antenna GPS Ultra-Compact Embedded
$18.95
1
$18.95
$18.95
Sharp GP2Y0A21YK0F Distance Sensor
$9.95
6
$59.70
$59.70
Color Board Camera 20K145DIG
$113.87
2
$227.74
$227.74
3.00mm Lens M-12
$16.00
2
$32.00
$32.00
HMC6352 Digital Compass
$59.95
1
$59.95
$59.95
Cart Frame Aluminum / wheels / screws
$80.00
1
$80.00
$80.00
Miscellaneous wires and parts
$60.00
1
$60.00
$60.00
PCB Layout
$40.00
3
$120.00
$120.00
Sub-Total $
$4,154.17
$838.27
Donations
$3,315.90
Total $
$838.27
Milestone 1
Milestone 2
Expo
• Mobile Tethered Bot
• Mobile Untethered Bot
•Mobile Autonomous Bot
• IR Obstacle
Avoidance
• IR Obstacle
Avoidance
• + Camera Obstical
• Detection
•IR + Image Obstacle
• Avoidance
• Direction Awareness
• PCB Testing Rev-1
• First Cart Frame
• Revision

• Fully Battery Powered
• Cart
• GPS Direction and
• Position Awareness
• Avoidance Pathing
• GPS Navigation
• Various Operating
Modes
Division of Labor
Hardware
PCB
Documentation
Software
HDL
RISKS
Wheels operating at same speeds
Inaccurate calculation of cart speed to judge
distance traveled
Interrupt Controller
Questions???