Tracking RoverTracking Rover

Team Rubber DuckyAlex Chi

Joshua Rubin

Alexander Starick

Ryan Ramos

Project OverviewProject Overview

Design a robotic rover IR sensing and tracking system

Implement a grabbing deviceFully autonomous robot powered by

two DC motorsImplement system to obtain the IR

emitting object

System DiagramSystem Diagram

SBCSBC

TS5600 -Technologic Systems

133Mhz AMD Elan 520 (586) Processor

Compact flash booting

On Board DIO2 serial portsWiFi communication

via pcmcia card

SBC SchematicSBC Schematic

68HC11K4 Microprocessor68HC11K4 Microprocessor

8 channel, 8 bit A/D converter

Pulse Width Modulation– Four 8 bit– Two 16 bit

Allows for Serial communication

XC9572 CPLD SchematicXC9572 CPLD Schematic

Motor ControlMotor Control

Motor speed is directly proportional to applied voltage

Will supply pulse to control speedNeeds a minimum of 2V to be

activated

Grabbing DeviceGrabbing Device

Considering several possibilities depending on progress made

A) Linear Actuator (most likely)B) Robotic Arm (if time permits)

Power SupplyPower Supply

Buck Converter- voltage supplied by a battery (12.8-11.5V), controlled by the PWM chip to adjust the duty cycle

Need a constant +5V output for SBC and sensors

Power Supply SchematicPower Supply Schematic

Comparator CircuitComparator Circuit

Add to notify the user when the battery is 25% charged to avoid completely discharging the battery

Give signal to SBC to shut down to prevent brownouts

When the voltage drops below 11.5V, LEDs will turn on- will be necessary to shut down the system and recharge the battery

IR SensorsIR Sensors

Use IR Receivers and phototransistors IR Receiver- sends a digital signal (+5V if

signal detected, 0V if no signal) directly to SBC

Phototransistors- Sends a analog signal to HC11 for a/d conversion (strength of signal will depend of closeness of object). Located only on the front side

Testing of sensitivity in progress…

Parts ListParts List

Microprocessor– 68M711K4HC11– XC9572– Three 74HC245– AT29C256 ROM– AS7256 RAM

Power Distribution– Battery– UC3525, TC427,

passive components

IR sensors– 12 TSOP1156 IR

receiver– 4 TEKT5400S

Phototransistor– 15 TSAL7600 IR LEDs– 2 AA batteries

SBC– WIFI card– Flash card– Flash reader

BudgetBudget

- Robot Assembly - $350

- SBC- $300- Flash Card Reader - $70- Battery + Charger- $200- Passive Components/ Perf Boards/Other - $75- HC11, HC245, CPLD, RAM, ROM - Free- IR Receivers, Phototransistors- Free- Other $50

____________________________________________________

Total $975

ScheduleSchedule

Milestones 1Milestones 1

Create a Software TestbenchWrite manual robot control softwareComplete Testing of full HC11

schematicComplete CPLD programmingDevelop IR system

Milestone 2Milestone 2

Create communication S/W for HC11Interface HC11 with SBC and motorsAdd bumper sensors

Division of LaborDivision of Labor

Joshua Rubin– SBC S/W, HC11 software

Alexander Chi– HC11 H/W and S/W, SBC

Alexander Starick– Sensors, CPLD, Power Supply, SBC, grabbing device

Ryan Ramos– Sensors, grabbing device, power supply, SBC

Completed TasksCompleted Tasks

HC11 awaits simple testing with ROMPower supply is completePrototype Puck completedLoading of Linux on SCB completedRobotic platform completed

Questions?Questions?