ECE 477 DESIGN REVIEW TEAM
08  SPRING 2010
Greg
Ananya
Seraj
Beau
Outline
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Project overview
Project-specific success criteria
Block diagram
Component selection rationale
Packaging design
Schematic and theory of operation
PCB layout
Software design/development status
Project completion timeline
Questions / discussion
Project Overview
 Autonomous robot
 Simulates behavior of dog fetching
 Tracks a thrown object, picks it up, and returns it
to thrower
 Able to avoid obstacles
 Computer vision
 Able to recognize an object using a camera
 Follows object using computer vision algorithms
(SIFT)
Project-Specific Success
Criteria
 An ability to identify a target object within a
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captured image
An ability to control vehicle direction and
speed
An ability to recognize nearby objects in
anticipation of avoiding said objects
An ability to pick up an object autonomously
An ability to record a GPS location in order to
verify that DOG has returned to this location
Block Diagram
Component Selection Rationale
 Microcontroller
 Freescale MC9S12A
 8-channel PWM
 Dual SCI
 Familiar architecture
 Chassis
 Self-designed and built
 Cheapest
 Greatest flexibility for
designing neck/arm
Component Selection Rationale
 Vision processor
 Intel Atom board
 Available for free
 Ability to use high-
level languages
 H-bridges
 VNH3SP30
 30A capable
 PWM drive
Component Selection Rationale
 Motors
 Planetary gear motor
 High torque
 Stall torque 152 oz-in (x4)
 Ample speed
 No load 1023 RPM
 GPS
 PMB-248
 Accuracy of ±2m
 1 second refresh rate
Component Selection Rationale
 Sonar Sensors
 LV-MaxSonar-EZ3
 6” to 254” range with 1”
resolution
 3 ¼” diameter dowel
Packaging Design
 Chassis
 House electrical
components
 Neck
 Extends to reach out
and grab object
 Head
 Top mounted camera
for maximum field of
view
 Tail
 Aesthetics (possible
GPS mounting position)
Packaging Design
Packaging Design
Head
Neck
Body
Camera
GPS (tail?)
Servos (TBA)
Ultrasonic Sensors
Motors
Batteries
Atom
Schematic/Theory of Operation
Schematic/Theory of Operation
 LM2675
 Input: 14.4V
 Output: 5.0V
 Drives: Micro, Servos,
Sensors, GPS, Level
Translator
 AP1509
 Input: 14.4V
 Output: 12.0V (2.0A)
 Drives: Atom board
Schematic- H-Bridge
 VNH3SP30
 Power Input: 8.4V @
30 A
 Logic Input: PWM,
Direction and
Enabling I/O @ 5.0V
 Drives: Motor(x2)
8.4V @ 30A
GND
Battery
Test Points
µC
PWM Pin
Enable and
direction pins
Schematic-Level Translators
 MAX3232
 Input: TTL Rx/Tx
 Output: RS-232
Rx/Tx
 Allows for serial
communication
Schematic - Microcontroller
 MC9S12A
 8-Ch PWM
 Motor Drivers (x2)
 Servos (x6)
 8-Ch ATD
 Sonar Sensors (x3)
 24-Ch I/O
 Motor Drivers (x8)
 LEDs (x4)
 Push Buttons (x3)
 2-Ch Serial
 Atom Board (x1)
 GPS (x1)
H-Bridges
Schematic-Oscillator and BDM
 6 MHz quartz crystal
 Pierce oscillator
 BDM connector
 Used for debugging
 Reset
 BKGND (signal)
 Power / Ground
PCB Layout
PCB Layout – H Bridge
 Wide traces/
multiple traces
for power rails
 Drill holes for
soldering
 Heat sink drill
holes
 Output headers
connected
through thick
traces to the
motor
PCB Layout – Oscillator
 Very close to
microcontroller
 No traces allowed
underneath
PCB Considerations-1
 High power circuitry,
High current part
Digital Part
digital and analog
subsystems are
separated and placed in
different sections
 Bypass capacitors placed
close to the
microcontroller
 Peripherals and
connectors are oriented
on the edges for easy
accessibility
Bypass Capacitors
PCB Considerations-2
 One main Power and
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Ground system
Bulk capacitors between
the power terminals
Ground and power traces
run parallel
8.4v power supply runs
on 150 mils power and
ground traces
14.4v power supply runs
on 22 mils power and
ground traces
Bulk Capacitors
Power
Ground
Software Design/Development Status
 Complete
 Tested functionality of GPS, Servos, Sonar, Atom,
Motors, Micro
 Tested Vision tracking and the use of SIFT
 Prototype interfaces with Servos, Sonar, Micro
 Layout of all chassis parts
 Incomplete
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Machining of all chassis parts
Chassis assembly
Software development
Integration
Project Completion Timeline
Task
Final PCB
Assemble chassis
Mount components
Write vision software
Write drive software
Write sonar software
Write GPS software
Write Servo control software
Integration
Algorithm expansion
System testing
Week 9
Week 10
Week 11
Week 12
Week 13
Week 14
Week 15
Week 16
QUESTIONS/DISCUSSION
Appendix A: System Flow Chart
Appendix B: Software Gantt Chart
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