RAPID FIRE
Robotically Actuated Prevention/Intervention Device Full of Innovative and Responsible Engineering
Preliminary Design Review
January 26, 2010
Riley Pack
Eric Pahlke
Kelly Shuster
Greg Stahl
MISSION STATEMENT
• The RAPID FIRE system will be able to recognize
moving targets in a room, choose the optimal target,
and track it.
Optimal Targets
PROJECT OBJECTIVES
• Recognize one or more moving targets using digital
cameras.
• Choose the optimal target, track its movement, and fire
a projectile (foam dart or disk) at it.
• Be capable of fully autonomous operation.
• Have a user interface that allows for control of modes,
manual turret control, and image viewing.
• Operate off of AC wall power.
BLOCK DIAGRAM
Camera Board(s)
with FIFO
Touchscreen
DSP
I/O
Processor
Control
Processor
Motors/
Mechanical
Power
Digital Connection
Analog Connection
Power Connection
CAMERA(S)
Camera Board(s)
with FIFO
Touchscreen
DSP
I/O
Processor
Control
Processor
Motors/
Mechanical
Power
Digital Connection
Analog Connection
Power Connection
CAMERA(S)
• Used to detect the state of the system’s surroundings
• Resolution: QVGA (320 x 240) Monochrome
• Goal: VGA (640 x 480) Color
• Minimum 15 Frames Per Second (FPS)
• Goal: 30 FPS
• Parallel Interface to DSP
• 60 Degree Azimuth Field of View (FOV) and 45 Degree
Elevation FOV
• Goal: 360 Degree Azimuth and 90 Degree Elevation
CAMERA(S)
• Camera to DSP Interface
• Primary Solution
• Write camera data to hardware FIFO using glue logic
• Alternative Solution
• Use small microcontroller to act as an intermediary
between camera and DSP
• Connect camera to microcontroller with 8-bit parallel data
interface, clock, and sync signals
• Write camera data from microcontroller to a dual-port
hardware FIFO
• Read camera data from FIFO onto DSP
• Process and find/track target
CAMERA(S)
SDA
Camera
SCL
uC/DSP
Enable
And
Write
Strobes
Glue Logic
8-bit
Parallel
Data
FIFO
8-bit Parallel
Data to DSP
DCLK
VD
HD
FIFO to
USB
Converter
Debug to PC
CAMERA(S)
• Tentative Camera Selection
• Toshiba TCM8230MD from
Sparkfun
• Specifications
• 15 or 30 FPS
• VGA or QVGA supported
• Digital Output (Y422 or RGB
565)
• Auto Gain Control, Auto White
Balance
http://www.sparkfun.com/commerce/
product_info.php?products_id=8667
POWER
Camera Board(s)
with FIFO
Touchscreen
DSP
I/O
Processor
Control
Processor
Motors/
Mechanical
Power
Digital Connection
Analog Connection
Power Connection
POWER
• Powered from 120VAC wall outlet.
• Use a COTS AC Adapter
• DC-DC converters used to power motors and less
sensitive components
• Linear regulators used to power the DSP and other
sensitive components
• All connections to the DSP isolated (power and data) to
protect the DSP
• Motor power zone isolated to protect the digital
components
POWER
• Power Rails
• 12V (Motors)
• 5V (Optical Encoder)
• 3.3V (Primary I/O Voltage)
• 2.8V (Camera I/O)
• 1.8V (AVR32 Core)
• 1.5V (Camera Sensor)
• 1.2V (DSP Core)
DIGITAL SIGNAL PROCESSOR
Camera Board(s)
with FIFO
Touchscreen
DSP
I/O
Processor
Control
Processor
Motors/
Mechanical
Power
Digital Connection
Analog Connection
Power Connection
DIGITAL SIGNAL PROCESSOR
• Processes images from CMOS cameras to detect and
track moving targets
• Subtraction for motion detection
• Blob detection algorithms to find targets
• OpenCV cvBlobsLib
• Open Source Computer Vision Library
• Communicates with the I/O and motor control
processors
DIGITAL SIGNAL PROCESSOR
• Tentative DSP Selection
• TI TMS320C6410
• Specifications
• 400 MHz, up to 3200 MIPS
• 8 Parallel Execution Engines
• 6 ALUs and 2 Multipliers
• Hardware Memory Interface
• 2 Hardware I2C Controllers
• Driver Library Available from TI
http://focus.ti.com/lit/ds/symlink/tms32
0c6410.pdf
HOST PROCESSORS
Camera Board(s)
with FIFO
Touchscreen
DSP
I/O
Processor
Control
Processor
Motors/
Mechanical
Power
Digital Connection
Analog Connection
Power Connection
HOST PROCESSORS
• Two microcontrollers to interface the DSP to the motors
and the touchscreen
• Motor Controller
• Receive desired pointing position from DSP and
control motors
• Read output of optical encoder for feedback
• Touchscreen Controller
• Receive images from DSP and send to touchscreen
• Receive and handle user input from touchscreen
HOST PROCESSORS
• Design Considerations
• Use the same microcontroller part to maximize code
reuse
• Two microcontrollers allows for physical separation
and easier task sharing
HOST PROCESSORS
• Tentative Processor Selection
• Atmel AT32UC3A1256
• Specifications
• 91 DMIPS at 66 MHz
• 7 Channel PWM Controller
• SPI, I2C, USART, other
Hardware I/O Support
• Driver Library Supplied by
Atmel
MOTORS/MECHANICAL
Camera Board(s)
with FIFO
Touchscreen
DSP
I/O
Processor
Control
Processor
Motors/
Mechanical
Power
Digital Connection
Analog Connection
Power Connection
MOTORS/MECHANICAL
• Two rotating platforms will be created
• One platform for azimuth, one for elevation
• Rotation achieved using turntables (Lazy Susan)
• DC motors used to rotate platforms
• Controlled with H-Bridge with PWM control
• Protection for deactivation feedback voltage from
motor inductance
• Digital optical encoder used for position detection
MOTORS/MECHANICAL
MOTORS/MECHANICAL
• Tentative Turntable Selection
• McMaster 6031K16
• Specifications
• 200 lb Load Capacity
• 3 in. x 3 in. Size
• Galvanized Steel
http://www.mcmaster.com/#6031k1
6/=5g021i
MOTORS/MECHANICAL
• Tentative Motor Selection
• Robot MarketPlace ML-50
• Specifications
• 120 RPM
• 730 mA Nominal Current
• 3.3 A Stall Current
• 320 oz-in Stall Torque
http://www.robotmarketplace.com/pr
oducts/ML-50.html
MOTORS/MECHANICAL
• Tentative Encoder Selection
• Avago AEDB-9140-F12
• Specifications
• Optical Encoder
• 256 Cycles/Revolution
• 1024 Signal
Changes/Revolution
• Fits Motor Shaft
http://www.avagotech.com/d
ocs/AV02-1584EN
CONTROL PROCESSOR/MECHANICAL INTERFACE
SDA
uC
x2
SCL
DSP
PWM
Output
H-Bridge
Relative
Angular
Position
Changes
Current
Encoder
Mechanical
Interface
Motor
LOGISTICS
DIVISION OF LABOR
Task
Riley Pack
Eric Pahlke
Kelly Shuster
Greg Stahl
Camera Board
S
P
S
S
DSP Board
Hardware
S
P
S
S
DSP Software
P
S
S
Motor Control
S
P
S
S
P
Mechanical
Power
P
LCD Control
S
Touchscreen
P
S
User Interface
P
S
P = Primary
S
P
S
S = Secondary
P
SCHEDULE
RISKS
• Camera
• Risks
• Unable to interface with chosen camera
• Solutions
• Use manual control of the platform
• Mechanical
• Risks
• Inexperience in mechanical design
• Manufacturing rotating platform
• Solutions
• Consulting with experts or scale back movement
RISKS
• DSP
• Risks
• DSP calculation ability
• DSP layout mistakes
• DSP board failure
• Solutions
• Scale back the amount of processing (less pictures)
• Cry, make the best of the situation, look for more funding
• Interface to computer and use processing on desktop
RISKS
• Control System
• Risks
• Unstable control system
• Solutions
• Create an extremely over damped system
• System Integration
• Risks
• Subsystems do not work together
• Solutions
• Integrate as often as possible
EXPENSES
Sub-Section
Processing
Component
Quantity Unit Cost Predicted Cost Bulk Cost Production Cost
DSP
Host Processor
SDRAM
DSP Board
Control Board
I/O Board
1 $26.00
2
$9.68
1
$9.24
1 $181.00
2 $33.00
2 $33.00
$26.00
$19.36
$9.24
$181.00
$66.00
$66.00
$17.25
$5.52
$5.89
$30.00
$10.00
$10.00
$17.25
$11.04
$5.89
$30.00
$20.00
$20.00
Motors
Optical Encoder
Turn Table
Raw Materials
2 $26.95
2 $23.80
2
$1.98
1 $100.00
$53.90
$47.60
$3.96
$100.00
$10.00
$18.00
$1.00
$15.00
$20.00
$36.00
$2.00
$15.00
8
$9.95
10
$1.50
8
$6.50
1 $100.00
$79.60
$15.00
$52.00
$100.00
$6.00
$10.00
$3.70
$30.00
$48.00
$100.00
$29.60
$30.00
Mechanical
Cameras
Sparkfun CMOS
Camera
Hardware FIFO
FTDI FIFO to USB
Miscellaneous
Total
$819.66
$384.78
OTHER CONSIDERATIONS
• Cost of the system would decrease if manufactured in large numbers
• May change the environment that it is placed in
• Mice may be chased away
• Sustainable design
• Parts are not specialized, easily replaced if specific part becomes
obsolete
• Platform is safe
• All voltages are low (<20V)
• Motors are not extremely powerful
• Makes everyone’s life more fun
Questions?