Advisor: Dr. Becker-Gomez
Tim Southerton Matthew Morris Kevin Meehan
Brian Grosso
Lalit Tanwar
Alex Reid
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Background
 Problem Definition
 Stakeholders Review
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Major Purchase
 Camera and Video
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Transmission
Total Budget
Power Budget
Weight Analysis
Component Layout
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Component Updates
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Performance Data
Differential Drive Speed
Engineering Req.’s Review
Dashboard Indicators
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Console Construction
Car Bumper Rev 2
MBED Programming
Simulink Interfacing
Steering Wheel
Modifications
Dedicated Computer
Car Electronics Plan
Schematics
Console Flow Chart
Course Components
Lab Topics
System Functional Decomp.
Risk Management
MSD II Planning
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Project Goal:
 Build a RC car platform controlled remotely with intuitive controls
and visual feedback that can be expanded to demonstrate
Controls to college students. The project needs to be captivating
and able to demonstrate multidisciplinary engineering innovation
at various RIT events this year and into the future.
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Deliverables:
1.
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8.
RC Car Platform with Cameras and Sensors
Driving Station with Controller
Equation of Motion of the System
Characterizing Parameters of the System
Source Code for Low Level Processing
Interface for Student Coding
Preliminary Differential Drive Code
Supporting Documentation
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Customer: Dr. Juan Cockburn
 Controls Professor, RIT, Computer Engineering (CE)
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Sponsors:
 RIT CE Department, Multidisciplinary Senior Design
(MSD)
 Freescale Semiconductor
 RIT FMS (Chris Furnare and Jim Shuffield)
 RIT ME Department (Bill Finch)
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Event Attendees:
 Imagine RIT, Freescale Cup 2014
 Various Campus Symposiums and Workshops
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MSD Team
Future RIT MSD Teams / Prospective Students
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Ready Made RC LLC – Ohio – US
Custom 5.8 FPV Starter Package: $232.70
 RMRC-420XV NTSC CCD Camera
 ImmersionRC 600mW 5.8GHz Video
Transmitter
 Uno5800 5.8GHz Receiver
 Standard Whip Antennas
 2 x RMRC 1100mAh Batteries
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LiPo Charger and Voltage Level Indicator
 Amazon: $37.26
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Total Budget 12-6-13
 Min. Projected Remaining Expenses $141.40
 Course Materials, Assorted Extras
 On Target: $505.25 Total to be Spent
 Long Lead Time Items Ordered at Minimum Cost
Approximately $363.85 Spent Thus Far
 Approximately $1328.25 in Total Value of Parts
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 Student Donated ~$170
 Freescale Donation ~$600
 Caster City Donation ~$60
 FMS / Free Items ~$80
 ME Dept. Donation - Free Computer, Table Surfaces ~$50
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Camera runtime
estimated at ~4 hrs
 2 LiPo Batteries
coming for camera
which can be one off
one on charging
 Far exceeds specs
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Car runtime
estimated at ~4 hrs
 Additional NiMH
battery available from
CE Department
 Far exceeds specs
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DDR Weight Analysis
Components weighed and values for
those not purchased tabulated
 <10% More than 2013 RIT Freescale Cup Car
 20% Less than when car tested for
performance (batteries weight will be less on
final product)
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Car will be able to move all the necessary
components without issue
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Scale CAD model made of car electronics layout to
verify that everything will fit
 Significant room for expandability
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Performance Testing
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Car tested with RC controls + Arduino taking
encoder data and transmitting back to laptop
through Xbee’s
Car run with two RC batteries (high weight)
and car easily made it over Freescale bump
Gathered performance data that compared
favorably with metrics
Information gained on bumper functionality,
drivability, and clearance
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Accelerometers unrealistic for linear
speed measurement
Linear speed of car to be determined by
averaging left and right wheel speeds
 Used as reference for feedback loop
 Easily available data for Simulink
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Possible integration into console display
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Detailed Engineering Requirements
Preliminary Testing Results:
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0 to Max Speed
Max Speed to 0
Max Speed
Max Range
2.8s
2.4s
10ft/s
141 ft
Addressed Items:
 Dashboard Indicators
 Dedicated Computer for Project
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Freescale
automotive division
MC9S12HY64
instrument cluster
demo board donated
for project
Stand built for
protection and
viewing
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Movement!
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Console updated with
lower mounting
height difference
between chair and
table base
 Changed to moving
table toward user for
safety
 Found better desk
and base surface
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Temporarily mounting
casters and screen
 New casters to be
expected near start
of MSD II
 Possible seat belt for
authenticity, time
depending
 Possible seat plate
with team information
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New bumper design
made with driving
feedback (protection)
 Polyethylene foam
cut using hot wire
foam cutter
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Freedom Board, Xbee, Accelerometer,
MATLAB Testing
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MBED
functionality with
Xbee’s and
MATLAB for
KL25Z Freedom
Board confirmed
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Serial information can
be directly imported /
exported from
Simulink model
 This will be integrated
with Brian’s model to
output motor speed
signal
 Simple interface for
students to program
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http://www.mathworks.com/help/releases/R20
13b/instrument/srcblkparam.gif
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Access hatch added
to allow for quicker
electrical work and
internal component
mounting
 KL25Z board
mounted inside and
wires connected to
board outputs for
interfacing with board
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Change of approach on console side to
controller and Xbee’s communicating
directly with computer
Simulink running controls application on
computer with serial in/out communication
Need for dedicated computer for project to
reduce program version issues and
increase robustness of final deliverable
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Using TLC Motor Shield on KL25Z
Replacing pin headers on motor shield
with through pin headers to access
unused pins
Attaching Xbee and encoder circuits using
a perfboard shield on top of motor shield
Use existing switches, potentiometers,
LED’s, and servo outputs as necessary
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Freescale Cup Tarp
 15’4” x 20’4”
 Stored in MSD Area
 Used on Floor with
Tables Moved
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Course Edging and
Obstacles
 TBD Budget Depending
 ~$60 Available
 Fix Freescale Bump
 Storage Limited
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1) Physics Theory - Brian's Differential Drive Model
 Assumptions and Turning Radius / Speed Formulas
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2) Controls Application
 Wheel Speed Averaging and PI Control
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3) Console Microcontroller Information
 Microcontroller / Electronics
 Console Controls and Outputs
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4) Chassis Construction and Information
 Car Steering Servo and Drive Motors
 Stats - Wheelbase, Track, Weight, Time Constants
 Battery and Power Management
 Assembly Instructions
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5) Car Microcontroller Information
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6) Wireless Communication Information
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Readings Data into Simulink
Outputting Data from Simulink
8) Testing
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Xbee Distance Stats and Info
Camera Distance Stats and Info
X-CTU, Updating, and Bricking Issues
Using Xbee's with MBED
7) Simulink Interfacing
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Microcontroller / Electronics
Car Inputs and Outputs
Uploading Code
Implementing Model Changes
Verifying Results
Sample Code and Demo
9) FAQs and Troubleshooting
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Successfully Completed
Addressed with POC
MSD II
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Risk Management
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Test Plan
 Test Chassis and Console
 Verify Physical Component Limitations
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Test Wireless Communications
 Functioning Distance
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Record Data at Imagine RIT
 User Feedback – Likert Scale
 Statistical Driving Data
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Finalized Project Deliverables
 Total Cost, Event Entries, Component Specs, Included
System Functionality
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Wheel Speed Sampling Solution and
Testing
Optical Gate Speed Testing
KL25Z Xbee / Motor Controller Integration
Controls Application Software Integration
Table Surfacing and Component Mounting
Course Design
Component Mounts
Aesthetics
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MSD II Planning
36 items identified for MSD II
Week 5 Demo
 Working Car using Console Drive Controls
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Week 8 Demo
 Working Controls Applications
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Week 12 Demo
 Working Course and Car
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Still plenty of work to be done
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P14226 EDGE Site
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