1 / 19

Mars Rover

Mars Rover. By: Colin Shea Dan Dunn Eric Spiller. Advisors: Dr. Huggins, Dr. Malinowski. Outline. Project Summary Review of Previous Work Division of Labor Datasheet and Parts Design Changes Progress Update Schedule. Project Summary.

Download Presentation

Mars Rover

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Mars Rover By: Colin Shea Dan Dunn Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski

  2. Outline • Project Summary • Review of Previous Work • Division of Labor • Datasheet and Parts • Design Changes • Progress Update • Schedule

  3. Project Summary • The main objective is to design the Rover for long battery life that must last 7 days without recharging. • The Rover will use PC104 to control the interface among the user and the Rover and high level software. • It will also use the MicroPac 535 microprocessor to control low level software such as the motors for motion, the sonar system, and the battery level. • The user will be able to enter a specific distance, move a predetermined distance, or rotate the Rover to get a preferred direction. • The user will be able to move the Rover with the use of their direction keys. The Rover will move in a constant direction until the key is released

  4. Previous Work • 2002 • Rob Shockency and Randall Satterthwaite • Robotic Platform Design • EMAC 8051 and a CPLD • Design Goals 1. Create Cheaper version of Telerobotics 2001 2. Upgradeable and expandable in the future

  5. Division of Labor Dan DunnColin SheaEric Spiller Assembly Code Java/Server Hardware - Motor Speed - Image Capture - DC Motors - Wheel Sensors - Rover Controls - Platform Construction - Battery Charge Level - Serial Communication - H-bridge/Motor Driver -Serial Communication - Battery Charger -Acoustics Sensors

  6. Data Sheet Specifications Turning accuracy - ± 5° for an individual turn command Turning resolution - 15° Driving accuracy - ± 5cm and ± 2° for a 100cm command Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT connection Weight – ~28lbs Battery life – 7 days without a recharge Top speed – 10cm/s Acoustic sensors – Time between transmit signals – 10 seconds Farthest object detection – 200cm Closest object detection – 50cm

  7. Data Sheet Motors – Model number – GM9X12 Gearing – 1:65.5 Max current – 4.56A Voltage – 12V Wheel Sensors – Output – TTL Pulses per revolution of shaft – 512 Voltage required – 5V Battery charge level accuracy - ± 5% Wireless protocol – 802.11b Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H) Battery – 2 X 12V @ 7.2Ah Wheels – 5cm x 16cm (Width x Diameter)

  8. Data Sheet PC104 – Max Current – 1.5A Processor – National Semiconductor Geode Processor @ 300MHz RAM – 128MB Video – Onboard Video card PCMCIA module – Current - .07A Wireless Card – Linksys WPC11 Max Current - .3A Current in Sleep mode - .02A Hard Drive – IBM Travelstar 2.5 inch IDE hard drive, 20GB Max Current - .94A (Spin-up Current) Current in Sleep Mode - .02A Camera – Logitech USB Webcam Max Current - .1A

  9. Parts and Price List

  10. Design Changes • Replaced Linux based operating system with Windows based operating system • Video Card was incompatible with Linux although manufacturer stated the card was compatible • Linux operating system was not stable on PC-104 board

  11. Design Changes • Flash Memory Card and PCMCIA Hard drive replaced by Laptop Hard drive • Flash Memory Card was not capable of booting the PC-104 at start-up • PCMCIA Hard drive was not visible by computer until system completed start-up sequence • Laptop Hard drive booted easier and still remained low power

  12. Progress Update

  13. Progress Flow Chart Green = Developed Red = Partially Developed

  14. PC104/Upper Level Microprocessor

  15. PC104/Upper Level Microprocessor

  16. Previous Work

  17. Rover Hardware

  18. Questions and Answers

More Related