TBDControl Commands (via Ethernet)

Video Feed, Sensing Data (via Ethernet)

Jay BraschKirk Nichols

Daniel KopeloveKatrina Bossert

Solution

• Create a vehicle to assist emergency responders in identifying hazardous materials.– Low Cost– Remotely Operable– Intuitive interface

Project Overview

• Create a sensing vehicle with the following functionality– Natural gas sensor– Geiger counter– Streaming video

• Control various aspects of the vehicle– Orientation and position of vehicle– Yaw/Pitch control of camera (two-axis control)

Introducing SCAB

• On-Vehicle Control Board • ARM-7 LPC2214 Processor– 2 UART ports– 2 I2C ports– SPI ports– PWM ports– Multiple external interrupt pins– Multiple A/D converters

• Offers Ethernet, servo, DC motor control

Sensors

• Deliverable– GCK-05 Geiger Counter– Micropel75 combustible gas sensor• %lel

– Ethernet camera• Extensions– MaxSonar range detector– HMC6352 2-axis compass– Vex Robotics optical shaft encoder

Ethernet Control• Linksys router configured as access point. – DD-WRT

• ENC28J60– Integrated Ethernet Controller and Drive Magnetics with

RJ-45 connector (CAT5 cabling)– SPI I/F to ARM microcontroller running at 25MHz– 64kB ram for tx/rx buffers– Link status LEDs and link connectivity

• User-end is implemented in LabVIEW– May require POSIX TCP server

User Interface

• Deliverable– LabVIEW GUI– Keyboard input

• Extensions– Vuzix iwear VR920 HUD– Joystick control

Testing/Debugging

• SCAB– UART Control– JTAG Support– Various Debugging Ports– Battery Charge Profiling

• Network Reliability/ Dynamic IP Handling• Black box/white box approach

Schedule

HUD

ResponsibilitiesKirk

Katrina

Jay

Dan

Ethernet Communication

Router

SCABVehicle

LabVIEW

Risk Analysis and Mitigation• Ethernet driver doesn’t work, unable to port TCP/IP stack to

ARM7 score: 25– RS232 to IEEE 802.3 converter– Really long cable

• LabVIEW network connectivity score: 16– Embedded C program– Stand alone C program populating flat-file

• DC Motor Control (currently intermittent reliability) score: 8– Off-the-shelf solution integration

• VR goggles low fidelity score: 4– Fall back to keyboard and monitor based control

Additives

• Kirk – VR Goggles• Jay – USB Joystick• Katrina – ChemFET• Dan – Audio

CDR Milestone

• Deliverables– Geiger counter fully functional– SCAB rev c populated and under testing– LabVIEW GUI menu control

• Roadblocks– Appropriate LabVIEW modules

Milestone 1

• Deliverables– SCAB rev c installed on vehicle

• Controlling motors• Controlling camera

– Embed video stream in LabVIEW– Router configured as access point

• Roadblocks– How well can LabVIEW interface with Ethernet?– Is video feed sufficiently fast to steer remotely?– Network Latency

Milestone 2

• Deliverables– SCAB rev c has Ethernet enabled interface• Transmits telemetry data to LabVIEW interface

– LabVIEW has complementary Ethernet interface• Transmits control commands to SCAB

– Vehicle can run 1 hour from battery

• Roadblocks– TBD

BudgetIn OwnershipSCAB rev bVuzix iwear VR920Geiger CounterTraxxas ChassisIn OwnershipSCAB rev bVuzix iwear VR920Geiger CounterTraxxas ChassisHMC6352 Digital Compass Additional MaterialsSCAB rev c 60SCAB rev d 60Misc. Parts 50Webcam 50Used Laptop 400USB Joystick 30Chassis Modification 35Micropel75 Gas Sensor 125Battery 30Total 840

Questions?

Schedule

System Diagram

NXP 2214

ADC(2)

Gas Sensor

(Range Sensors)

Pulse(2)

Geiger(Velocity)

(Compass)I2C(3)

Sensing Ports

Olimex Port?

DC Motor

DC Motor

Servo(3)

UART(5)+

ATF750 CPLD

System Information

Vehicle Control

Battery Level

Battery Level

Debug Port

Debug Port

EthernetBase Station

Linux LaptopLinux

Laptop LabVIEWLabVIEW

Vuzix HUDVuzix HUD

USB Joystick

(Peripherals)

Functional requirements