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EDMA FINAL REPORT
BY: TAYLOR LEE
2
Contents I. ABSTRACT .............................................................................................................................................. 3
II. EXECUTIVE SUMMARY .......................................................................................................................... 4
III. INTRODUCTION ................................................................................................................................. 5
IV. SUB-SYSTEMS .................................................................................................................................... 6
V. SYSTEM INTEGRATION .......................................................................................................................... 7
VI. MOBILE PLATFORM ........................................................................................................................... 8
VII. ACTUATION ....................................................................................................................................... 9
VIII. SENSORS .......................................................................................................................................... 10
IX. EXPERIMENTAL SET UP AND RESULTS ............................................................................................ 11
X. CONCLUSION ....................................................................................................................................... 12
XI. PROGRAM SCHEDULE ..................................................................................................................... 13
XII. CODE ............................................................................................................................................... 14
XIII. BOM AND CAD ................................................................................................................................ 15
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I. ABSTRACT
This document is intended to capture the requirements and schedule for the EDMA program. A
summary of the program’s performance will be given in SECTION II. The program itself will be
introduced in SECTION III. The various sub-systems will be outlined in SECTION IV and the
integrated system will be discussed in SECTION V. In SECTIONS VI-VII the Mobile Platform,
Actuation, and Sensors will be discussed. SECTION IX will discuss the Experimental Results and
SECTION X will give a conclusion of the program. The program schedule will be covered in SECTION
XI. A brief description of the code will be given in SECTION XII. In addition, a top level BOM and
preliminary design for the vehicle are included in SECTION XIII.
4
II. EXECUTIVE SUMMARY
The EDMA Program required approximately 280 man hours to complete between electrical,
mechanical, software, and systems engineering. The entire project consisted of capturing
requirement, preliminary design, a proposal phase, design, analysis, testing, verification, and
validation. The robot performed well during demo day and met all deliverables, deeming it a
success. Minor improvements and stretch goals could be implemented with an increased
budget and schedule or in future version of this program. The site for this program can be
found here: https://sites.google.com/site/tcleeiedbot/home.
5
III. INTRODUCTION
1. PURPOSE AND INTENDED FUNCTION
EDMA is ultimately intended to autonomously deliver an explosive payload (simulated by a
blinking light) to a specified target, vacate the blast radius of the payload, and then detonate the
payload wirelessly.
2. REQUIREMENTS
1. Autonomous navigation
2. Identification of a specified target
3. Delivery of a payload within proximity of the target
4. Wirelessly detonate the payload with RF signals
3. STRETCH GOALS
1. Implement a search algorithm
2. Integrated special effects upon detonation
The stretch goals are in excess of the program requirements. No penalties will result from
unattained stretch goals.
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IV. SUB-SYSTEMS
1. MECHANICAL
The mechanical design will consist a four wheel drive chassis driven by DC motors. The chassis, motors,
and wheels all come in an off the shelf kit. The payload will consist of a custom designed enclosure for
an OSEPP UNO, Xbee wifi module, and 6V battery pack. A servo and mechanical claw will grip and
deploy the payload. Both the claw and micro servo are off the shelf components. Custom mounting
brackets will be designed for the ultrasonic range finders, Ardunio Mega, the L298 motor controllers,
and the Raspberry Pi Camera Module. To house all of the sensors and electronics, an off the shelf
enclosure will be purchased.
2. ELECTRICAL
The electronics can be broken down into the vehicle and payload systems. The vehicle electronics
consists of the Raspberry PI 2 as the on board CPU, the Arduino Mega as the micro controller, the L298
motor controllers, the Raspberry Pi camera module, the 4 DC motors, the Xbee RF module, the servo
and gripper, and the ultrasonic range finders. This system is powered by two 9V battery packs and a
rechargeable USB to micro USB portable charger. The payload electronics consist of an OSEPP UNO
R3+ and Xbee RF module for communications. This electrical system is powered by a single 6V battery
pack. More detail on the individual power connections will now be provided.
Each L298 motor controller will be powered by a 9V battery pack. The on board Raspberry Pi will be
powered by a rechargeable USB to micro USB portable charger. This component is off the shelf. The
Raspberry Pi Camera module and Arduino Mega will be powered by the Raspberry Pi. The ultrasonic
rangefinders, servo and gripper, and the Xbee module will be powered by the Arduino Mega. In the
payload, an OSEPP UNO R3+ will be powered by a 6V battery pack. The UNO will power the payload’s
Xbee module.
3. OPTICAL
The on board optical system will consist of a Raspberry Pi Camera module for raw data and
the Raspberry Pi for image processing. A single ribbon cable is included with the Raspberry Pi
camera module and connects the camera directly to the Raspberry Pi through a Camera Serial
Interface (CSI) port on the Raspberry Pi. The camera module has an on board 1.5 Volt
regulator and runs directly on power from the Raspberry Pi. The operating temperature range
for the module is -30 °C to 70 °C. The output from the camera module is 8 bit RGB array. The
ray angles for the camera module are specified at 24°. Further, this camera is capable of
1080P, however the frame size was reduced to 480 x 320 in order to increase the frame rate
of the module.
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V. SYSTEM INTEGRATION
Software integration can be broken down into two main categories. The OSEPP UNO and
Arduino Mega microcontrollers are coded with C++ in an Arduino IDE. The Raspberry Pi utilizes
Python and Open CV. Serial communications allow the Raspberry Pi to exchange information
with the Arduino Mega microcontroller. The block diagrams below show the layout for the
vehicle and payload respectively.
VEHICLE
PAYLOAD
8
VI. MOBILE PLATFORM
The mobile platform used in this project is an off the shelf kit from Fry’s Electronics. The kit is
called the Whippersnapper and manufactured by Actobotics. This is a very convenient kit and
includes a thermoset plastic platform, four press fit wheels, and four DC motors. The vendor part
number is 8458148 and an image of the platform is shown below.
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VII. ACTUATION
Two main components in the system were actuating parts. The first are the DC motors that
came in the mobile platform. As mentioned in the previous sections, four of these motors
actuated four press fit wheels to give the robot mobility. In addition to these motors, a single
servo controlled the gripper that held the payload. The manufacturer of this part is HITEC and
the manufacturer part number is HS-422. There are various vendors for this product. The
servo and gripper are shown below.
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VIII. SENSORS
The only true sensors used in this project are the ultrasonic range finders. Two ultrasonic
range finders were implemented onto the system to incorporate obstacle avoidance and also
to trigger detonation. When objects were very close to the robot, the ultrasonic sensors told
the robot to stop. If this object remained in the way, the sensors would then tell the robot to
turn away from the object. In addition, if the robot was receiving the serial command to drop
the payload from the Raspberry Pi, the ultrasonic sensors would also have to detect that the
target was close. This aided in mitigating false positives and prematurely dropping the
payload. The manufacturer is OSEPP, the vendor is Fry’s Electronics, and the vendor part
number is 8555239. An image of the sensor is shown below.
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IX. EXPERIMENTAL SET UP AND RESULTS
The EDMA Program had extensive trial and error testing performed. Thresholded images,
ultrasonic sensor readings, and wireless serial communications were used when trouble
shooting, but no data was needed or recorded for this program. The deliverables were all met
95% of the time from a range of approximately 30 feet. The image below shows the down
range testing set up for most of the experiments done on EDMA. The ball was identified by
the robot as the target and the black backing was used to ensure the robot detected an object
when it was close to the ball.
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X. CONCLUSION
This program was extremely successful and also a magnificent learning opportunity. The
technical lead, Taylor Lee, knew almost nothing about software, electronics, or robotics
before starting this project. He did however have a passion to learn about these topics. By the
end of this program the technical lead knew how to use OpenCV, Linux, code in Python, code
in C++, and the basics of electrical engineering. Two major things he would consider improving
in a future project are the aesthetics and the mechanical design. Taylor’s background is
mechanical engineering, so he neglected these topics and focused on the functionality of the
robot and integration of sub-systems. This was not a bad approach, but for future projects
Taylor intends to give these two subjects more attention. In addition, Taylor would use a
different power source. For this project, re-chargeable AA batteries were used. This proved
expensive and time consuming.
A special thanks goes out to the Program Managers Jake Easterling and Andy Gray. They were
both very helpful and assisted Taylor in achieving his goals. In addition, the customers Dr.
Schwartz and Dr. Arroyo were both very excellent customers to work with. They provided
great insight when needed and Taylor thoroughly enjoyed having them as his customer.
13
XI. PROGRAM SCHEDULE
The following schedule provides deliverables to the customer and internal deliverables. Both
will be strictly adhered to, however only customer deliverables will be penalized in the event
of a missed deadline.
EDMA Program Schedule
Deliverable For Customer or Internal Drop Dead Date
Parts Order Internal 8/28/2015
Pre-proposal Customer 9/3/2015
Parts Received Internal 9/8/2015
Informal Proposal Customer 9/9/2015
Additional Parts on Order Internal 9/11/2015
Oral and Written Reports 1 Customer 9/17/2015
All Parts Received Internal 9/18/2015
Internal Avoidance Demo Internal 9/25/2015
Avoidance Demo Customer 10/13/2015
Camera Integration and Control Internal 10/14/2015
Package Deployment and Detonation Internal 10/21/2015
Special System Demo Customer 10/22/2015
Special System Report Customer 10/29/2015
Finalize and Integrate All Systems Internal 11/6/2015
Internal Final Demo Internal 11/18/2015
Pre-Demo Day Customer 11/19/2015
Final Presentation Customer 12/1/2015
Final Demo Customer 12/3/2015
Final Written Report Customer 12/8/2015
Media Day Customer 12/9/2015
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XII. CODE
There are three main sets of code in EDMA. The on board Raspberry Pi utilizes a program
coded in Python. The rover and payload both use code in C++. A link to these codes is
provided here: https://sites.google.com/site/tcleeiedbot/code.
15
XIII. BOM AND CAD
A Solidworks BOM, isometric view, and exploded view are provided on the following pages.
For complete CAD files contact the Project Lead.
4465-609 4465-509 MOUNT 14465-604 4465-504 MOUNT 24465-603 4465-503 MOUNT 24465-602 4465-502 MOUNT 14465-601 4465-501 MOUNT 1
19 4465-519 PORTABLE CHARGER 1 AMAZON 12.99$18 4465-518 6 PACK AA BATTERY 317 4665-517 LED SET 1 FRYS ELECTRONICS 7726888 7.49$16 4665-516 MOBILE ROVER KIT 1 FRYS ELECTRONICS 8458148 28.99$15 4665-515 ELECTRONICS ENCLOSURE 114 4665-514 ADHESIVE VELCRO 1 7.99$13 4465-513 ZIP TIES12 4465-512 ZIP TIE MOUNTS 11 4465-511 AA NIMH BATTERY 16 AMAZON 2.50$10 4465-510 CANAKIT RASPBERRY PI 2 KIT 1 AMAZON 69.99$9 4465-509 RASP PI CAMERA MODULE 1 SPARK FUN DEV-11868 34.95$8 4465-508 SERVO 2 SPARK FUN ROB-09065 8.95$7 4465-507 GRIPPER 1 SPARK FUN ROB-13176 5.95$6 4465-506 XBEE USB ADAPTER BOARD 1 DIGI-KEY 32400-ND 24.99$5 4465-505 XBEE MODULE ZIGBEE 1 DIGI-KEY 602-1098-ND 17.00$4 4465-504 MOTOR DRIVER 2 FRYS ELECTRONICS 8353697 9.99$3 4465-503 RANGE FINDER 2 FRYS ELECTRONICS 8555239 5.99$2 4465-502 ARDUINO MEGA 1 FRYS ELECTRONICS 8458148 28.99$1 4465-501 OSEPP UNO R3 PLUS 1 FRYS ELECTRONICS 7224833 29.99$
ITEM NO. IMDL P/N DESCRIPTION QUANTITY VENDOR VENDOR P/N COST PER UNIT
4
A
123
B B
A
2 134
EDMA TOP LEVEL
-DO NOT SCALE DRAWING
4465-500SHEET 1 OF 3
T.LEE
UNLESS OTHERWISE SPECIFIED:
SCALE: 1:8 WEIGHT:
REVDWG. NO.
BSIZE
TITLE:
NAME DATE
COMMENTS:
Q.A.
MFG APPR.
ENG APPR.
CHECKED
DRAWN
FINISH
MATERIAL
INTERPRET GEOMETRICTOLERANCING PER:
DIMENSIONS ARE IN INCHESTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL
APPLICATION
USED ONNEXT ASSY
PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OF<INSERT COMPANY NAME HERE>. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF<INSERT COMPANY NAME HERE> IS PROHIBITED.
4
A
123
B B
A
2 134
DO NOT SCALE DRAWING
4465-500SHEET 2 OF 3
UNLESS OTHERWISE SPECIFIED:
SCALE: 1:8 WEIGHT:
REVDWG. NO.
BSIZE
TITLE:
NAME DATE
COMMENTS:
Q.A.
MFG APPR.
ENG APPR.
CHECKED
DRAWN
FINISH
MATERIAL
INTERPRET GEOMETRICTOLERANCING PER:
DIMENSIONS ARE IN INCHESTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL
APPLICATION
USED ONNEXT ASSY
PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OF<INSERT COMPANY NAME HERE>. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF<INSERT COMPANY NAME HERE> IS PROHIBITED.
4
A
123
B B
A
2 134
DO NOT SCALE DRAWING
4465-500SHEET 3 OF 3
UNLESS OTHERWISE SPECIFIED:
SCALE: 1:8 WEIGHT:
REVDWG. NO.
BSIZE
TITLE:
NAME DATE
COMMENTS:
Q.A.
MFG APPR.
ENG APPR.
CHECKED
DRAWN
FINISH
MATERIAL
INTERPRET GEOMETRICTOLERANCING PER:
DIMENSIONS ARE IN INCHESTOLERANCES:FRACTIONALANGULAR: MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL
APPLICATION
USED ONNEXT ASSY
PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OF<INSERT COMPANY NAME HERE>. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF<INSERT COMPANY NAME HERE> IS PROHIBITED.