Amr Aldaiel - Andrew KravitzKatie Noble - Zack Taylor - Alan
Yim
Overview• Objectives and features• Block diagram• Microcontroller and FPGA • Rover assembly and mechanics• Peripherals• Power distribution system• User interface and communication link• Risks and contingency plan• Division of tasks• Time schedule• Cost estimation
Purpose
• Remotely operated rover to be used for purposes including:– Home/Business surveillance– Hazardous environment monitoring– Accessing low-light and small space
environments– Non-intrusive monitoring of disabled
and elderly
Features• Wireless real-time video with
illumination capabilities• Remote manual operation via
computer-based user interface• Temperature sensor• LCD display and keypad
• Wireless network control• Automatic patrol mode• Smoke detector, CO detector
PreliminaryGoals
PotentialAdd-ons
Block Diagram
Microcontroller
• PIC18F6527 Microcontroller (64 Pin)– Contains 5 on Board PWM
• 2 PWM to control vehicle movement• 1 PWM to control camera servo for vertical aim
– Onboard EEPROM, RAM and EnhFl memory– Internal Oscillator to sample wheel position– Max Operating Frequency 40MHz– Upward scalable for additional features
FPGA or CPLD
• Xilinx XCS10 FPGA– Uses
• On Board Control Pad• On Board LCD display• LED information lights for debugging• On Board Switches and Buttons for
debugging
Rover Assembly and Mechanics• Two independent drive-trains• Each drive-train driven by a different DC
motor• Options
– Treads– Left/Right side wheels linked by belts– Front/Back wheels on axles
• Optical encoder feedback for automated movement (optional)
Peripherals
• Wireless camera• High-intensity illumination
LEDs• Temperature sensor• LCD display and keypad• Night vision camera
capabilities• Smoke detector• Carbon Monoxide detector
PreliminaryGoals
PotentialAdd-ons
Power Distribution SystemTasks:• Design and build a Power Management
Unit (PMU)• Build switching power converters as
needed for different parts of the eyeBOT• Ensure power is adequately distributed
and efficiently managed• Ensure switching converters are
adequately cooled down by heat-sinks and/or fans
Initial PMU Components
• 1st Stage Step-Down Converter• 2nd Stage Step-Up/Down
Converters• Motor Controller and Gate Driver• H-bridge Inverter• Servo Controller
PMU (Power Management Unit)
Step-Up/Step-Down DC-to-DC Converter• Non-inverting buck-boost Converter
(Could also use a Flyback Converter):
H-Bridge ConverterH-Bridge Converter
User Interface
• User will interface with the eyeBOT from a base computer.
• User will control movement of wheels and camera
• Programmed using Visual C#
Communication Link
• Camera will communicate wirelessly directly with the base computer
• All other devices will communicate to the base computer through an RS-232 cable
• Once working, we will upgrade to wireless communication
Risks & Contingency Plan
• Errors on PCB– Wire wrap prototype
• Power issues– Can use tethered AC power
• Visual interface issues– LCD panel rover control
• Wireless interfacing issues– Can use tethered RS-232 interface
Division of Tasks• Amr
– Power distribution system, LCD/Keypad
• Andrew– Microcontroller, FPGA
• Katie– Motors & feedback, peripherals, FPGA
• Zack– User interface, communication link
• Alan– Rover assembly & mechanics, motors
Time Schedule
Cost EstimationComponent Quantity Price Per Price
Variable speed DC motor/Gearbox 2 $65 $130
Chassis 1 $200 $200
Battery/Battery charger 1 $150 $150
Digital thermometer 1 $5 $5
Camera (CCD) 1 $100 $100
High power LEDs 10 $1 $10
FPGA 1 $120 $120
Servo for camera rotation (vertically) 1 $40 $40
Keypad/LCD 1 $25 $25
PIC (Microchip 18F6527) 4 $5 $20
PIC programmer 1 $160 $160
Demo board 1 $60 $60
Printed circuit board 2 $100 $200
RS-232 cables 1 $25 $25
RS-232/RF interface 1 $150 $150
H-bridges 2 $25 $50
Optical feedback encoders 2 $60 $120
Quadrature decoder 2 $40 $80
TOTAL $1,680
Questions?