Design 1 Presentation 12/7/2005

1. The Development of a Simulated Autonomous Vehicle Controller Design 1 Presentation12/7/2005 Prepared for: August Allo Department of Electrical Engineering University of Texas at San Antonio Prepared by Design Group 7 (DG7): Zaid Albaker Ely Don Lagazo Samuel Oliveros Jr. William Vo

2. Presentation Outline • Introduction • Problem that the project addresses • Proposed solution to problem • Design Constraints & User Requirements • Design Concepts • Pugh Concept Matrix • Proposal • Outline Process • Task Breakdown • Budget Costs • Project Schedule • Functional Block Diagram

3. Introduction Problem that the project addresses In the past decade, the demand for newer technology for autonomous vehicles has been increasing. Autonomous vehicles are a desirable product because of their wide range of versatility. Some are used to perform routine tasks for industry, while others are excellent for handling tasks that would be hazardous to humans. The problem here is that the cost of autonomous technologies is out of the range of many people. DG7’s objective is to research and develop a low-cost versatile controller for vehicles ranging from land, air, and water.

4. Introduction Proposed Solution to problem DG7 proposes to develop low-cost versatile controllers for autonomous vehicles ranging from land, air, and water. The construction of the controllers will sync simulation results deployed on the PC to replay to the desired vehicle in exact replication of the simulation. This eliminates the use of manual control when a specific objective needs to be performed repeatedly, such as moving from point to point and enabling actions (taking screenshots, dropping missiles, etc.) and returning safely if need be.

5. Design Constraints and User Requirements List of Constraints that apply to product • Global • Economic Factors • Environmental Effects • Sustainability • Manufacturability • Ethical Consideration • Health and Safety Issues • Social Ramifications • Local • Cost • Schedule • Manufacturability • Ethical Considerations • Health and Safety Issues • Legal

6. Design Constraints and User Requirements • List of User Requirements • User will need to know how to control the vehicle • User will be able to send saved simulated commands to the device • Knowledge of using the simulator • Transmitting data wirelessly to the device • Automated playback can be overridden by the user

7. Design Concepts • Main Concept Ideas: Concept A: Concept A consists of using a Motorola 68HC12A4 microcontroller which is a chipset we are familiar with from our experience in Microcomputer Systems. Although this chip has very high capabilities, it is too powerful for our application and did not offer the same convenience as other microcontrollers. Concept B: For Concept B, a Basic Stamp2sx was considered to be used instead. This concept was desirable because the Stamp2sx has higher data capabilities and can execute instructions faster. This microcontroller can be configured with the Parallax Basic (PBasic) programming language, one that is unfamiliar to our group. Concept C: For our third proposed idea, we use a Javelin Stamp as opposed to the Basic Stamp. The main difference is that this chip is programmed using Java. Although this chipset is lower than the Stamp 2sx, it is easy to interface with any devices connected to a computer, such as joysticks or radios, key essentials to your project.

8. Pugh Concept Matrix

9. Design Schedule

10. Proposal • Proposed Outline of Design Process DG7 proposes to complete this project in four separate phases. The first phase was completed duration of Design 1. Phases 2 thru 4 will be completed during the Design II course. Any modifications to this design schedule will be implemented when the time arises. Phases 1 and 2 are as follows: Phase 1: Planning and Idea DevelopmentPhase 2: Research Review of Project ideas and goals Autonomous Vehicles Assignment of Tasks STAMP micro-controller Project Submissions Pulse Width Modulation Patents Servo Control Market Analysis RF Transmission and Receiving Design Constraints Java/PBasic Interfacing Engineering Standards Design Alternatives Development of Pugh Matrix Functional Block Diagram Task Breakdown

11. Proposal Phase 3: Design Hardware Stamp Configuration Transceiver Design PWM Interface Software Embedded Code Design Software Development Interface between Hardware Phase 4: Implementation Functional Prototype Vehicle Development Purchase of Parts Hardware & Software Testing Construction of Prototype Test Vehicle and Analyze Data Debugging Development of Functional Prototype Software Modifications Prototype Review and Approval Prototype Testing (Simulation) Presentation of Prototype

12. Functional Block Diagram

13. Proposal • Task Breakdown Phase 1: Planning and Idea Development Phase 1 was completed during the duration of Design 1. The main goal of this phase was to introduce our group to the intricacies of developing a new engineering product as well as giving us a background into research and development. One of the first steps taken during this phase was brainstorming project ideas that could be successfully completed using the timeline given to our group. A preliminary market analysis was developed to determine what market group our product would focus on. Following this, local and global design constraints were reviewed to determine if any were applicable to our group’s design. Engineering standards related to our design were researched and some were kept for future consideration in our design. Before the group went ahead and proceeded with the first concept that seemed feasible, other design alternatives were considered. A Pugh Matrix was then used to determine which concept would be the most efficient for us to employ. From this point a functional block diagram was developed using the most efficient concept determined from the Pugh Matrix.

14. Proposal • Task Breakdown Phase 2: Research Phase 2 involves covering the background research study of our design concept. Considering the fact that DG7 had little to no background knowledge of how autonomous vehicles are controlled, it was necessary to research their operation in full detail. The main areas of interest include the following: • The BASIC STAMP microcontroller • Pulse Width Modulation (PWM) • Servo Control • Radio Signal Transmission and Receiving • Java/PBasic Hardware Interfacing After researching and reviewing these topics, enough information was available for our group to undertake our final two proposed phases in Design II.

15. Proposal • Task Breakdown Phase 3: Design During the design portion of this project, both hardware and software aspects will be will be configured. Hardware: In order to have our hardware operating properly, first we need to make sure that the STAMP microcontroller is coded properly, since it will control the main servo motors that will set our vehicle in motion. Following this, a transceiver has to be designed to…….. Finally, a PWM Interface has to be developed to …… Software: Hardware STAMP configuration Transceiver Design PWM Interface Software Embedded Code Design Development of Preliminary Software Interface between hardware

16. Proposal • Task Breakdown Phase 4: Implementation

17. Board of Education Development Board $65 Basic Stamp 2 Module $49 Javelin Stamp Module $89 Boe-Bot Robot Kit $149 433.92MHz Transceiver $95 JR Radio XF631 6CH $199 Total $646 Proposal • Estimated Budget Costs

18. Conclusion