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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.

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Mars Rover

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  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

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