Mars RoverMars Rover

By: By: Colin SheaColin SheaDan DunnDan Dunn Eric SpillerEric Spiller

Advisors: Dr. Huggins, Dr. Malinowski

OutlineOutline

Project SummaryProject Summary Review of Previous WorkReview of Previous Work Division of LaborDivision of Labor Datasheet and PartsDatasheet and Parts Design ChangesDesign Changes Progress UpdateProgress Update Schedule Schedule

Project SummaryProject Summary The main objective is to design the Rover for long The main objective is to design the Rover for long

battery life that must last 7 days without recharging. battery life that must last 7 days without recharging. The Rover will use PC104 to control the interface The Rover will use PC104 to control the interface

among the user and the Rover and high level among the user and the Rover and high level software.software.

It will also use the MicroPac 535 microprocessor to It will also use the MicroPac 535 microprocessor to control low level software such as the motors for control low level software such as the motors for motion, the sonar system, and the battery level. motion, the sonar system, and the battery level.

The user will be able to enter a specific distance, The user will be able to enter a specific distance, move a predetermined distance, or rotate the Rover to move a predetermined distance, or rotate the Rover to get a preferred direction. get a preferred direction.

The user will be able to move the Rover with the use The user will be able to move the Rover with the use of their direction keys. The Rover will move in a of their direction keys. The Rover will move in a constant direction until the key is releasedconstant direction until the key is released

Previous WorkPrevious Work

20022002• Rob Shockency and Randall SatterthwaiteRob Shockency and Randall Satterthwaite• Robotic Platform Design Robotic Platform Design • EMAC 8051 and a CPLDEMAC 8051 and a CPLD• Design GoalsDesign Goals

1. Create Cheaper version of Telerobotics 1. Create Cheaper version of Telerobotics 20012001

2. Upgradeable and expandable in the future 2. Upgradeable and expandable in the future

Division of LaborDivision of Labor

Dan DunnDan Dunn Colin SheaColin Shea Eric SpillerEric Spiller

Assembly CodeAssembly Code Java/ServerJava/Server HardwareHardware

- Motor Speed - Motor Speed - Image Capture- Image Capture - DC Motors- DC Motors

- Wheel Sensors- Wheel Sensors - Rover Controls- Rover Controls - Platform - Platform ConstructionConstruction

- Battery Charge Level- Battery Charge Level - Serial Communication- Serial Communication - - H-bridge/Motor Driver H-bridge/Motor Driver

-Serial Communication-Serial Communication - Battery Charger- Battery Charger

-Acoustics Sensors-Acoustics Sensors

Data SheetData SheetSpecificationsSpecifications

Turning accuracy - ± 5° for an individual turn commandTurning accuracy - ± 5° for an individual turn commandTurning resolution - 15° Turning resolution - 15° Driving accuracy - ± 5cm and ± 2° for a 100cm commandDriving accuracy - ± 5cm and ± 2° for a 100cm commandCamera capture speed – 5 frames/sec @ 324x288 resolution for a Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT connection10BaseT connectionWeight – ~28lbsWeight – ~28lbsBattery life – 7 days without a rechargeBattery life – 7 days without a rechargeTop speed – 10cm/sTop speed – 10cm/sAcoustic sensors – Acoustic sensors –

Time between transmit signals – 10 secondsTime between transmit signals – 10 secondsFarthest object detection – 200cmFarthest object detection – 200cmClosest object detection – 50cmClosest object detection – 50cm

Data SheetData SheetMotors – Motors –

Model number – GM9X12Model number – GM9X12Gearing – 1:65.5Gearing – 1:65.5Max current – 4.56AMax current – 4.56AVoltage – 12VVoltage – 12V

Wheel Sensors – Wheel Sensors – Output – TTLOutput – TTLPulses per revolution of shaft – 512Pulses per revolution of shaft – 512Voltage required – 5VVoltage required – 5V

Battery charge level accuracy - ± 5%Battery charge level accuracy - ± 5%Wireless protocol – 802.11bWireless protocol – 802.11bDimensions – 31.4cm x 46.4cm x 21cm (L x W x H)Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H)Battery – 2 X 12V @ 7.2Ah Battery – 2 X 12V @ 7.2Ah Wheels – 5cm x 16cm (Width x Diameter) Wheels – 5cm x 16cm (Width x Diameter)

Data SheetData SheetPC104 –PC104 –

Max Current – 1.5AMax Current – 1.5AProcessor – National Semiconductor Geode Processor @ 300MHzProcessor – National Semiconductor Geode Processor @ 300MHzRAM – 128MBRAM – 128MBVideo – Onboard Video cardVideo – Onboard Video card

PCMCIA module –PCMCIA module –Current - .07ACurrent - .07A

Wireless Card – Wireless Card – Linksys WPC11Linksys WPC11Max Current - .3AMax Current - .3ACurrent in Sleep mode - .02ACurrent in Sleep mode - .02A

Hard Drive – Hard Drive – IBM Travelstar 2.5 inch IDE hard drive, 20GBIBM Travelstar 2.5 inch IDE hard drive, 20GBMax Current - .94A (Spin-up Current)Max Current - .94A (Spin-up Current)Current in Sleep Mode - .02ACurrent in Sleep Mode - .02A

Camera –Camera –Logitech USB WebcamLogitech USB WebcamMax Current - .1AMax Current - .1A

Parts and Price ListParts and Price ListEquipment List for Mars Rover

Part Qty Website Manufacturer Location of Vendor Part # Price

20 Gb 1www.pricewatch.com Hitachi

www.basoncomputer.com HIDK23DA20F $80.00

128 Mb RAM 1

www.pricewatch.com Infineon

www.18004memory.com

LG1064U/064/G3VAC $14.20

PC/MCIA Wireless Card 1 www.pricewat

ch.comLogictech www.legendmic

ro.comDL1150 $69.00

USB Webcam 1 www.pricewat

ch.comLogictech www.enpc.com 961137-0403 $16.00

PC104+ 300MHz w/ USB 1

www.square1industries.com National Semi

www.square1industries.com CM-589 $399.00

Dual PC/MCIA Adaptor 1

www.square1industries.com National Semi

 

www.square1industries.com CM-589

   $94.00

Pittman DC Motor #9236 2

Bradley Bradley OwnedOwned Pittman www.pittmanne

t.com   

  $672.20

Design ChangesDesign Changes

Replaced Linux based operating Replaced Linux based operating system with Windows based system with Windows based operating systemoperating system– Video Card was incompatible with Linux although Video Card was incompatible with Linux although

manufacturer stated the card was compatiblemanufacturer stated the card was compatible– Linux operating system was not stable on PC-104 boardLinux operating system was not stable on PC-104 board

Design ChangesDesign Changes

Flash Memory Card and PCMCIA Hard Flash Memory Card and PCMCIA Hard drive replaced by Laptop Hard drivedrive replaced by Laptop Hard drive– Flash Memory Card was not capable of booting the PC-Flash Memory Card was not capable of booting the PC-

104 at start-up104 at start-up– PCMCIA Hard drive was not visible by computer until PCMCIA Hard drive was not visible by computer until

system completed start-up sequencesystem completed start-up sequence– Laptop Hard drive booted easier and still remained low Laptop Hard drive booted easier and still remained low

powerpower

Lab Week Fall Expected Project Milestones

19-Jan-03Assemble 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-03Continue 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

Progress UpdateProgress Update

Second Semester  

Date Progress Description

1/19/03 to 1/25/03

Installed Linux Red Hat 8.0 onto an older Pentium 166 computer.

Waited to get the PC104 board and modules.

1/26/03 to 2/1/03

Attempted to install Linux on the PC104 board using the PCMCIA hard drive as the main hard drive.

Linux never recognized the drive, so we decided to use a 2.5 inch IDE hard drive.

2/2/03 to 2/8/03

Attempted to install Linux on the 2.5 inch hard drive.

Linux would install and boot, but not run.

After many hours of installing and adjusting configurations for Linux, we discovered that Linux was incompatible with Geode processors.

We decided to use Windows 2000 instead, because of stability and compatibility.

2/9/03 to 2/15/03

After establishing a stable platform to work with, we began to add the peripherals and necessary software.

Setup servers at http://webrover.bradley.edu and at http://webrover.bradley.edu:8080

2/16/03 to 2/22/03

Tested serial communication between a windows based computer and the Micropac 535.

Tested H-bridge design with Pittman DC motor.

2/23/03 to 3/01/03

Continued testing serial communication between a windows based computer and the Micropac 535.

Tested PWM signal from MicroPac 535 to generate signal for H-bride operation.

Tested H-bridge design mounted on circuit boards with 30V Pittman DC motor and later with PWM signal from MicroPac 535.

3/02/03 to 3/08/03 Reconstruct Rover and Presentation

Progress Flow ChartProgress Flow Chart

UserComputer Internet

MicroPac 535Embedded System

Motor

Wheel Sensors

Battery ChargeLevel

Camera

Voltage

Control TCP/IP

Bit

Str

eam Acoustic

Sensors

PC104Upper level software

WirelessNetwork

card

802.11bRF signal dig

ital b

it stream

Tra

nsm

it pu

lse

TTL Signal

Object

USB Protocol

PWM Signal

Java Applet

Image

Com

ma

nds

Sta

tus

Ech

o p

uls

e

H-Bridge

Green = DevelopedRed = Partially Developed

PC104/Upper Level PC104/Upper Level MicroprocessorMicroprocessor

PC104/Upper Level PC104/Upper Level MicroprocessorMicroprocessor

Previous Work Previous Work

Rover HardwareRover Hardware

Questions and AnswersQuestions and Answers