Mars Rover
By:
Colin Shea
Dan Dunn
Eric Spiller
Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag
Outline
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Project Summary
Review of Previous Work
Patents
Project Description
Data Sheet
Equipment and Parts
Preliminary Research
Schedule
Division of Labor
Project Summary
• The main objective is to design the Rover for long
battery life that must last 7 days without recharging.
• The Rover will use PC104 to control the interface among
the user and the Rover and high level software.
• It will also use the MicroPac 535 microprocessor to
control low level software such as the motors for motion,
the sonar system, and the battery level.
• The user will be able to enter a specific distance, move a
predetermined distance, or rotate the Rover to get a
preferred direction.
Previous Work
• 2002
• Rob Shockency and Randall Satterthwaite
• Robotic Platform Design
• EMAC 8051 and a CPLD
• Design Goals
1. Create Cheaper version of Telerobotics 2001
2. Upgradeable and expandable in the future
Patents
The following patents were collected from the United States Patent and
Trademark Office searchable on-line database using the keywords
wireless, network, 802.11, web, camera, USB camera, PCMCIA,
and hard disk
• 6,484,029
• 6,453,159
• 6,486,832
• 6,434,132
Apparatus and methods for adapting mobile unit
to wireless LAN
Multi-level encryption system for wireless
network
Direction-agile antenna system for wireless
communications
Wireless LAN for reestablishing wireless links
between hosts according to monitored
Patents
• 5,982,807
• 6,005,613
• 6,484,308
• 6,292,863
• 6,336,142
• 5,619,396
• 5,231,693
High data rate spread spectrum transceiver and
associated methods
Multi-mode digital camera with computer
interface using data packets
System and method for ensuring data integrity
on a removable hard drive
PC card
Methods and apparatus for downloading data
between an information processing device and
an external device via a wireless
communications technique
Modular PCMCIA card
Telerobotics
Standards
Internet Standards
Most internet standards are documented in Internet Request For
Comments which are indexed at Ohio State University. Java is
trademarked by Sun Computer Systems.
•
RFC 791 - Internet Protocol (IP)
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RFC 793 - Transmission Control Protocol (TCP)
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RFC 826 - An Ethernet Address Resolution Protocol (ARP)
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RFC 893 - Internet Protocol on Ethernet Networks
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RFC 1866 - Hypertext Markup Language (HTML/2.0)
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RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0)
• USB Standard is found from USB.org, the document is part of a zip
file that also includes information on the newest standard USB 2.0.
Functional Description
• Wait mode –
• All systems are powered, except the motors.
• The CPU monitors the wireless card for network activity
• The last image captured from the camera is displayed to the
user.
• Web page accessible to user
• Battery Status is monitored
• Sleep mode –
• The sub-systems are powered down except for the CPU and
the wireless network card.
• CPU runs in a reduced power mode.
• Web page accessible
• Battery Status is monitored.
• Rover remains in sleep mode until signaled by the user.
Functional Description
• Low battery mode –
• Battery drops below 10% of charge
• Email sent to Dr. Malinowski requesting a charge
• Rover shuts down all components.
• Charge mode –
• Rover continues to charge until power button is pressed
• Stays in this mode until battery level reaches 100%
• User mode –
• All Systems powered
• Distance and Direction Control
• Web Page accessible to user
• Image capture and display
• Battery Status is Monitored
Functional Description
User
Charge
Full Charge
Low Battery
Timeout
Wait
Manual
Disconnect
Connect
Sleep
Low Battery
Activity
Low Battery
Low Battery
System Block Diagram
User
Computer
Java Applet
Internet
Control TCP/IP
Upper level software
microprocessor
Camera
USB Protocol
Battery Charge
Level
Vo
lt a g
e
Embedded System
M
P W na l
S ig
Motor Control
Sig
nal
Acoustic
Sensors
Transmit pulse
Wheel Sensors
T TL
Echo pulse
Photons
Commands
Status
Monitor
Bit Stream
Mouse and
Keyboard
Wireless
Network
card
digital bit stream
802.11b
RF signal
Image
Object
Software Flow Chart
• High Level Software
• Rover Control
Wait For
Control
Event
Press or
Hold
arrow
key
Enter
Degree
Heading
Enter
distance
Move
Forward
or
Backward
Turn by
Degree
Encode
signal binary/
ASCII
Send
Signal
through
Serial Port
Software Flow Chart
• High Level Software
• Image Retrieval/Display
Camera
takes
Picture
Image is
compresse
d to jpeg
Image is
read from
memory
Image
Displayed
in applet
Delay 5sec
Software Flow Chart
• Low Level Software
• Motor Control
Equal to
Zero
Stop Rover
Equal to
Zero
Distance Register
for Left Wheel
User input, store
in registers
Distance Register
for Right Wheel
Decrement Distance
Traveled from Total
Distance
Decrement Distance
Traveled from Total
Distance
Compare Measured
Values
Left Wheel
Sensor
Register
Increment or
Decrement Timer
Registers to
regulate speed
Increment or
Decrement Timer
Registers to
regulate speed
Retrieve
count every
.1 secs
Left Wheel
Sensor
Right Wheel
Sensor
Register
Retrieve
count every
.1 secs
Left Motor
Right Motor
Right Wheel
Sensor
Software Flow Chart
• Low Level Software
• Object Detection
Transmit Pulse
Transmit
Micropac 535
Acoustic Sensor
Receive
Measure time
between pulses
Object
Echo Pulse
Calculate distance
away from object
Safe distance
Continue moving
Too close
Stop rover
Software Flow Chart
• Low Level Software
• Battery Voltage Level
Battery terminal
voltage
Micropac 535
Compare to Data
Table
A/D converter
n
ha
Charge too low
rg e
Display to user
approximate battery
charge level
Charge Good
Continue operating
rover
User not present, charge good
Stop rover and switch
to low charge mode
er
t, c
User present
Us
n
se
p re
o t lo w
Preliminary Research
Hard drives –
Standard IDE
Large power consumption
Flash Card
Very small power consumption
Not large enough to run Linux
PCMCIA
Good power consumption
Large enough to run Linux
Preliminary Research
Wireless Cards –
Dell Truemobile
Lowest power consumption
Not compatible with Linux
Linksys
Good power consumption
Compatible with Linux
Cisco
Higher power consumption
Compatible with Linux
Preliminary Research
Computer Platform
Format
PC/104
PC/104+
SBC
Processors
Intel PIII ULV
Transmeta Crusoe Processor
National Semiconductor Geode Processor
Boot Options
Disk-on-Chip
USB
Floppy
Expansion Options
PCMCIA
Serial
Preliminary Research
Format Differences:
PC/104 – Based on a ISA bus expansion – supports 8bit and
16bit devices
PC/104+ Based on a PCI bus expansion – supports 16bit and
32bit devices
SBC – has no bus expansion, usually
Preliminary Research
Processors:
Intel power
highest power in sleep mode >1.0watts
Transmeta Crusoe power
lowest power in sleep mode <.05 Watts
National Semiconductor power
second lowest >.05Watts
Speed:
Intel – 450Mhz-1.0Ghz
Transmeta 300Mhz – 700Mhz
National Semiconductor 200Mhz – 333Mhz
Preliminary Research
• Battery Report:
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A battery with the highest amp hours and lowest
weight must be selected
After a meeting with the project advisors, the decision
was made to use a 12V battery supply, primarily, the
batteries used in the Robotic Platform Design.
Trickle charge applies a continuous constant low
current to maintain charge
A deep discharge will shorten the life and partial
discharges will extend life.
Preliminary Research
DC Motor Report:
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Researched a 5V motor, but later the decision
was made to use a 12V motor .
Pittman motors will be used for the Mars
Rover.
major factor in determining which motor that
will be used is the value of the load current.
Power Calculations
Power Consumption for Sleep Mode:
PC104 computer
PC104 PCMCIA module
PCMCIA Hard drive
PCMCIA Wireless Card
EMAC
.026A
.07A
.015A
.009A
.045A
+ _____
.165A
Total
24hrs * 7days = 168hrs
168hrs * .165A = 27.72 Ah @ 5V
27.72Ah * 5V = 138.6Wh
Using 2 - 12 Volt, 7.2Ah batteries:
12V * 7.2Ah * 2 = 172.8Wh available
Power Calculations
Power Consumption for User Mode:
PC104 computer
.8A
PC104 PCMCIA module
.07A
PCMCIA Hard drive
.4A
PCMCIA Wireless Card
.285A
EMAC
.045A
Camera
.1A
2 Polaroid Ultrasonic 6500
.2066A
Total
+ ______
1.9066A
Power Calculations
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Pittman GM9236 motors:
Total with motors
1.9066A + 16.9A * 2 = 35.7A
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User is connected 3% of the time (or 5 hrs out of a week), then power
consumption is as follows:
(1.9066A * 3% + .165A * 97%) * 168 * 5V= 182.48Wh without motors
((33.8A*12V+1.9066A*5V)*3% + .165A*97%*5V)*168hrs = 2226.7Wh
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With Pittman GM9X12 motors which pull 4.56A @ 12V:
((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =726.8Wh
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To meet the requirements to run for 7 days without a recharge using 2 –
12V @ 7.2Ah batteries, the user would only be able to run the rover for
1.5hrs a week
((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =179.1Wh
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Data Sheet
Specifications
Turning accuracy - ± 5° for an individual turn command
Driving accuracy - ± 5cm and ± 2° for a 100cm command
Camera capture speed – 5 frames/sec @ 324x288 resolution for a
10BaseT connection
Weight – ~28lbs
Battery life – 7 days without a recharge if user connects <= 1.5
hours a week
Top speed – 10cm/s
Speed range – 1 cm/s to 10 cm/s
Acoustic sensors –
Time between transmit signals – 10 seconds
Farthest object detection – 200cm
Closest object detection – 50cm
Data Sheet
Motors –
Model number – GM9X12
Gearing – 1:65.5
Max current – 4.56A
Voltage – 12V
Wheel Sensors –
Output – TTL
Pulses per revolution of shaft – 512
Voltage required – 5V
Battery charge level accuracy - ± 5%
Wireless protocol – 802.11b
Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H)
Battery – 2 - 12V @ 7.2Ah
Wheels – 5cm x 16cm (Width x Diameter)
Parts and Price List
Equipment List for Mars Rover
Part
5 Gb PC/MCIA
Harddrive
Qty.
1
Website
www.pricewatch.com
Manufacturer
Toshiba
Location of Vendor
Part #
Price
www.legendmicro.com
HDD1232CZP41
002
$191.00
$14.20
128 Mb RAM
1
www.pricewatch.com
Infineon
www.18004memory.com
LG1064U/064/G
3VAC
PC/MCIA Wireless
Card
1
www.pricewatch.com
Logictech
www.legendmicro.com
DL1150
$69.00
USB Webcam
1
www.pricewatch.com
Logictech
www.enpc.com
961137-0403
$16.00
PC104+ 200MHz w/
USB
1
www.square1industrie
s.com
National Semi
www.square1industries.co
m
CM-589
Dual PC/MCIA
Adaptor
1
Pittman DC Motor
#9236
2
Bradley Owned
Pittman
www.pittmannet.com
12V 35Ah Battery
1
www.batterymart.com
www.batterymart.com
SLA-12V35
$42.95
6V 42Ah Battery
1
www.batterymart.com
www.batterymart.com
SLA-6V42
$39.95
The Energy Conservation Laboratory and Acoustic Laboratory Room will be
used to construct the project.
$399.00
$772.10
Laboratory Week
Project Milestones
19-Jan-03
Assemble PC104 and interface with previous Robotic Platform Design project.
26-Jan-03
Create boot software for Linux.
Install drivers for all components in Linux.
2-Feb-03
Develop and test motor control software on Micropac 535.
Develop software to interpret wheel sensor bit streams.
9-Feb-03
Continue working on software development for motor control and feedback loop.
16-Feb-03
Develop software to capture image from camera and send to user.
Continue working on software development for motor control and feedback loop.
Work on web server development.
23-Feb-03
Create Java applet for user interface.
2-Mar-03
Continue with Java applet
Work on software to estimate battery charge level.
9-Mar-03
Finish working on software to estimate battery charge level
16-Mar-03
Spring Break
23-Mar-03
Develop software to operate acoustic sensors
30-Mar-03
Finish Java applet.
6-Apr-03
Testing of individual components and overall system.
13-Apr-03
Testing of individual components and overall system.
20-Apr-03
Preparation for presentation and final report
27-Apr-03
Presentation
Division of Labor
Dan Dunn
Assembly Code
- Motor Speed
- Wheel Sensors
- Battery Charge Level
-Serial Connection
-Acoustics Sensors
Linux
Colin Shea
Java
- Image Capture
- Rover Controls
- Serial Communication
Eric Spiller
Hardware
- DC Motors
- Platform Construction
- H-bridge/Motor Driver
Linux
Linux
Questions and Answers