Midterm Design Review
Team Remote Environmental Sensing Tram (REST)
November 25th, 2013
Team Members: Arsid Ferizi; Cameron Foss; Noah Pell; Michael Rizzo;
Advisor: Prof. Jackson
Monitoring Forest Health
Global Climate Change
• Human-based control systems are
limited
Forest Health Monitoring
• Inadequate means of analyzing
a forest’s response to a variant
This graph, based on the comparison of atmospheric samples
contained in ice cores and more recent direct measurements,
provides evidence that atmospheric CO2 has increased since the
Industrial Revolution.
Proposed Solution: Aerial Tram
• REST will traverse a 50m transect, provide continuous on site data acquisition, and trend monitoring via a
website
Tram System Collecting Data in Harvard Forest
Photo Courtesy of Professor Siqueira
Proposed Solution: High Level Overview
Tram
• Autonomously collects data from sensors
• Transmits collected data to the base station
Tower (Base Station)
• Communicates with tram, to give commands and receive environmental data
• Send and receive commands and data to the UI over Ethernet
User Interface
• Access and display recorded and real time data
• Process user commands and transmit them to the base station
Solution: Block Diagram
User Interface
Requirements:
•
•
•
•
Allows user to change multiple settings on the aerial
tram
Allows user to send controls for aerial tram to execute
in real time
Deliver sensor data visuals to user
Process and display image and video data for the user
Implementation:
• Website
• Supports graphical representation of
environmental data
• Scripted input to direct operation of tram
• Supports images and video
This website is used by a company to display their data collected from remote sensors
http://mdw.srbc.net/remotewaterquality/data_viewer.aspx
User Interface
Current Accomplishments:
• Python script polls the output file from data
logger every 30 seconds, and updates if necessary
• Google Charts graphs and Google Spreadsheets
tabulates the gathered data
• Motor moves and pictures are uploaded when
commanded by the website
CDR Primary Goals:
• More attractive and user friendly
• Improved data visuals
• Parameterized
• Improved integration of user commands
• Allow for user to input a testing schedule
and state transitions
Current graph of the received sensor data
TX/RX for UI-Base Station Communication
Requirements:
• Send and receive data over the internet to the aerial tram
Photo Courtesy of Professor Siqueira
Implementation:
• Landline to base station
Category 5 Cable
http://picclick.com/NEW-1-FOOT-PINK-CAT-5E-350
MHZ-UTP-ETHERNET-NETWORK-281140500650.html
Tram System – The “Base Station” is the shack located behind the blue structure
Tx/Rx for Base Station-Tram Communication
• Current Implementation:
• Data Logger connects to on-tram computer through EtherComm TX Port Micro Switch
• Ethernet from computer to base station
• Proposed Communication Options:
• Move Computer off Tram to Base Station and establish wireless communication
• Industrial Cat5 cable
DEV-11837 RaspberryPi Model A
(with weather resistant case)
XBEE ZB Pro Series 2
Transmitter on Tram
Arduino Uno - R3 DEV-11021
XBEE ZB Pro Series 2
Transmitter on Base Station
XBEE Series 1 Transmitter
At Tram
XBEE Series 1 Transmitter
At Base Station
Wireless Requirements
Requirements:
• Wireless
•
•
•
Range of at least 50m
Adequate data rate
Reasonable power consumption
XBEE ZB Pro Series 2
Transmitter on Tram
Implementation:
•
•
RaspberryPi Model A to Xbee ZB RF module
• Outdoor Range = 120m
• Data Rate = up to 1Mbps
• Power: 5V @ 300mA
XBEE ZB Pro Series 2
Transmitter on Base Station
DEV-11837 RaspberryPi Model A
(with weather resistant case)
Arduino Uno-R3 to Xbee Series 1 RF module
• Outdoor/RF LOS Range = 100 m
• Data Rate = 250 kbps
• Power: 3.3 V @ 50mA
Arduino Uno - R3 DEV-11021
XBEE Series 1 Transmitter
At Tram
XBEE Series 1 Transmitter
At Base Station
Wireless vs. Wired Trade-Offs
• Wired Connection
• Basic Cat5 subject to environmental
deterioration
• Industrial cables recommended for
outdoors
• Industrial Cable- ~$100
• Wireless Solution:
• Less maintenance
• Lower data transfer rates
• ZigBee- ~$40
Conclusion:
We prefer the wireless solution, however trade-offs indicate that either option will suffice. We
will leave the option of wireless capabilities to the User.
Tx/Rx (Tram-Base Station-Website)
Current Accomplishments:
• Wired transmission from tram to website
• Wireless solution determined option at users preference
CDR Secondary Goal:
• Construct wireless modules solution
• Order industrial cat5 cables
Control System (Base Station)
Requirements:
•
•
•
•
Non-technical
Process commands sent by the web application
Perform data processing and storage at the base station
Manage autonomous tram operation
Implementation:
• Driven by the state machine
• Labview
•
Control of the virtual instruments
• Python
•
Programmable connection to the network
• Python and Labview
LGX AU140 Extended Temperature Intel Atom Computer Platform
http://www.logicsupply.com/media/manuals/LGX_AU140_Fanless_Computer_SpecSheet.pdf
Control System (Base Station)
Current Accomplishments:
• State execution dictated by schedule
•
•
CDR Primary Goals:
•
•
Check Time
Data Logger collects data when commanded by Labview
Motor moves by 1m or 10m increments when
commanded by Labview
Move Back
Initialize
System
Parameterized
•
Scheduling and state transitions based on user input
Power down state
Take
Measurements
Move Tram
Motor Controls (Base Station)
Requirements:
•
Move the tram according to a user defined distance
Implementation:
•
Stepper Motor and Driver
• Low vibration
• 3 N•m torque up to 150 rpm
Current Accomplishments:
•
Movement at a constant predefined speed
CDR Primary Goals:
•
Movement necessary to achieve user defined
distance
http://www.orientalmotor.com/products/stepper-motors/AR-series-stored-data-controller-dc.html
AR66AKD-T10-3, AlphaStep Closed Loop Stepper
Motor and Drive with Built-in Controller
Sensors and Controls (Tram)
Requirements:
•
•
•
Capable of sensing radiation, vibration and distance
Capable of visually observing surroundings
Lightweight, reliable, reasonable power consumption
Implementation:
•
Four Channel Net Radiometer
• Pyranometer – SW 285-3,000 nm
• Pyrgeometer – LW 4,500-40,000 nm
•
Spectral Reflectance Sensor
• Normalized Difference Vegetation Index (NDVI)
• 531±3 and 570±3 nm wavelengths
• Photochemical Reflectance Index (PRI)
• 630±5 and 800±5 nm wavelengths
http://www.hukseflux.com/product/nr01-net-radiometer?referrer=/product_group/pyranometer
http://www.hoskin.ca/catalog/index.php?main_page=product_info&products_id=2611
Four Channel Net Radiometer
Spectral Reflectance Sensor
Sensors and Controls (Tram)
Implementation:
•
Accelerometer
• Resolution – 3.9 mg/LSB (typical)
• Shock survival - 10,000 g (maximum)
• SPI or I2C digital interface
• Power consumption - 140 μA (typical) at 3.3 V
•
Ultrasonic sensor
• Suitable for outdoor applications
• Distance - 50cm to 10m
• Accuracy - within +/-1% over the distance range
• Resolution - 10mm (max)
• Power consumption – 3.1mA at 5V
http://www.adafruit.com/products/163?gclid=CJ2B0t-mmroCFZKk4Aod9wkAZQ
http://www.maxbotix.com/Ultrasonic_Sensors/MB7386.htm
ADXL335 - triple-axis accelerometer
HRXL-MaxSonar®-WRLT™
Sensors and Controls (Tram)
Implementation:
•
Webcam
• HD video – 720p/1080p
• Photos – Up to 15 megapixels
•
Infrared Thermometer
• Operating Range - -55 to 80C
• Sensitivity - 60 uV per C
Logitech HD Webcam C920
http://www.logitech.com/en-us/product/hd-pro-webcam-c920
http://www.hoskin.ca/catalog/images/Apogee_SI-111.jpg
Apogee Infrared Thermometer
Sensors and Controls (Tram)
Requirements:
•
Organize sensor data and commands into packets for
communication between base station and tram.
Implementation:
•
CR1000 Data Logger
• Analog inputs
• 16 single-ended (8 differential) channels
• Digital I/O
• SDI-12, UART, RS232
• 4MB memory
http://www.campbellsci.com/cr1000
CR1000 Data Logger
Sensors and Controls (Tram)
Current Accomplishments:
• Sensors(4 channel radiometer, NDVI, PRI, Infrared Thermometer, Webcam, Ultrasonic) collect data when
labview sets a port on the data logger
• Camera takes a picture via python script, and uploads it to website
Current Set backs:
• All of the data logger’s analog channels have been used/digital accelerometers unable to communicate
with logger directly
• Ultrasonic sensor is not suitable for outdoor applications
CDR Primary Goals:
• Parameterized
• Ultrasonic sensor better suited for the application
• Accelerometer communicating with Raspberry Pi board and python script
Power Management (Tram)
Device of
Interest
Max Voltage(V)
Max Current (A)
Avg. Power (W)
Power (W/h)
Average Daily
Operation Time(hrs)
Ultrasonic
Sensor
12
50m
.6
4.8
8
NDVI(x2)
12
383u
9.552m
76.716m
8
PRI(x2)
12
398u
9.192m
73.536m
8
Data Logger
12
100m
1.2
9.6
8
Ethernet Switch
12
158m
1.896
15.168
Total Tram
12
258m
3.096
24.768
Requirements:
• 12 Volt supply @ 350 mA
Current Implementation:
• Wired connection
8
Power Management (Tram)
Wireless Charging and Management Solution:
• Inductive Charging
• 12VDC rechargeable Battery
Current Accomplishments:
• Total Power calculations and Wireless Charging Block diagram
CDR Goals:
• Full Charging circuit design
Power Management (Tram)
Requirements:
• Switches to battery source if power line goes down
• Enters a low power state
Implementation:
• RaspberryPi
• Power consumption: 5V @ 300mA
• Battery
• 12VDC 12Ah
• Provides at least 24 hrs of battery supply while land line
is down.
• Would like to implement a wireless charging station via
Inductive charging to maintain a charged battery.
Proposed MDR Deliverables
Primary Goals:
• Demonstration of data collection from environmental sensors
• Demonstration of tram and base station communication
• Demonstration of website and tram basic interaction
• Tram is able to send and receive test data
• Website displays test data, and is able to send text data to tram
Proposed CDR Deliverables
Primary Goals:
• Website – attractive UI with adequately functioning user input (commands, test schedule, state
transitions) and visuals (graph, table, pictures)
• Base Controls - scheduling and state transitions based on user input, and a power down state
• Sensors and Motor Controls – integration of accelerometer and motor speed based on user input
• Power Management and Communication – integration of secondary power supply, and power controller
Secondary Goals:
• Website and Base Controls – error handling
• Sensors and Motor Controls – sensor measurements based on user input and error handling
• Power Management and Communication – wireless communication between tram sensors/webcam and
base station
Tertiary Goals:
• Sensors and Motor Controls – positioning system
• Power Management and Communication – error handling
Costs and Weight
Item
Cost
Item
Tram Weight
RaspberryPi Model A
$29.95
Tram and support frame
35lbs
Weather Case for
RaspPi
<$10
Battery
14.33lbs
Battery x2
$51.54
Total
49.33
Accelerometer
$24.95
UltraSonic Sensor
$119.95
Totals
$236.39
Team REST’s Schedule
Task
Task Leader
Week of
Week of
December 16th December 23rd
(Break Week)
Week of
January 2nd
Week of
January 6th
Week of January
13th
Week of January
20th
Week of January
27th
Week of February
3rd
Primary Goals:
Integration of accelerometer
Mike
x
x
Attractive and functional UI
Arsid
x
x
Power Management (Base
Station/Tram)
Cameron
x
x
Scheduling and state
transitions
Noah
x
x
x
x
x
x
x
Arsid/Noah
x
x
x
Mike
x
x
x
Cameron
x
x
x
Secondary Goals:
Website and Base Controls –
error handling
Sensors and Motor Controlserror handling/user
commands
Motor Controls – user
commands
Tertiary Goals:
Positioning system
Mike
Power Management and
Communication-error
handling
Cameron
x
x
x
x
x
Week of February
10th
Week of February
17th
Questions….