Capstone Spring 2009 Critical Design Review

1. Capstone Spring 2009Critical Design Review Erich Hanke Electrical Engineering Cole Bendixen Electrical and Computer Engineering Erik Larson Electrical Engineering Quang Than Electrical Engineering HAMSter

2. HAMSter Project Overview • Mobile Servo Powered Cart • Stereo-Vision Obstacle Detection • Autonomous Navigation • FPGA Hardware / Software Control • IR Sensor “Failsafe” Collision Avoidance 2

3. Cart Control Systems

4. GPS • 12 Channel Lassen IQ GPS Receiver with DGPS • RS-232 communication interface. • Uses NMEA 0183 communication protocol. • Programmable output.

5. IR Sensors • Sharp GP2Y0A21YK0F Analog Distance Sensor • Analog voltage output.

6. Servos • HSR-8498HB HMI Robot Servo • 180 degrees or continuous rotation operation. • Controlled via 340Hz • PWM signal. Max. CW Stopped Max. CCW 1.456 ms 1.497 ms 1.539 ms

7. Compass • Honywell HMC6352 • IIC Controlled • SDA, SCL, +3.3V, Gnd • 0.5 Degree Heading Resolution • Write 'A' → Read Direction

8. Xilinx Virtex 5 FPGA • 550 MHz Integrated Block Memory (5MB) • 6 Clock Management Tiles CMT • Dedicated cascade routing to form 64K x1 Block Memorys • 1.0 V Core Voltage • 7 Stage PPC Pipeline • Multiple IOB Voltage Support: 3.3V, 2.5V, 1.8V

9. PowerPC 440 • 1,100 DMIPS • Up to 550MHz • Out of Order Processing • Branch Prediction • 256MB DDR2 200MHz

10. Cameras • Videology 20K145DIG • Digital 8 bit YUV 4:2:2 Output • 510x494 Active Pixels • Software Controllable by IIC • Internal Sychronization • 5V • < 0.8 W

11. Camera Controller • IIC Interface to Micro • 28.6 MHz Clock • Data on Each Clock • Hsync / Vsync Pins

12. Camera Board Timing Specs

13. Stereo Vision Based upon the phenomena of parallax, where an observation at two locations along a baseline of a common object appears to cause an offset of the object. This offset can be used to determine relative distance to the object. Camera One Camera Two d1 d2 13

14. Point Spread Function • Simple PSF is applied to the image to enhance edges. • Parameterized sweeper size and intensity. • Post convolution threshold filter applied.

15. HDL IMAGE CO-PROCESSOR PPC HARDCORE PROCESSOR PPC REG INTERFACE CONTROL REGISTERS IMAGE PROCESSING DATA BUILDER CONV IMAGE BRAM CONTROL DATA BREAKER DVI CONTROLLER DVI SIGNAL GENERATOR PLL RAM BLOCK

16. Code Flow Diagram Position Evaluation Position Evaluation Orientation Orientation Movement Stopped ISR Frame Ready ISR Move and Wait Move and Wait Process Frame Process Frame Determine Path Determine Path Process Objects Process Objects IR Sensor ISR

17. Servo Controller System • Memory Mapped Control Registers • PWM Generators • Timers For Each Servo: Timer Timer Control Register Control Register Duty Cycle Register Frequency Register PWM Generator

18. Power Systems Logic Power System Logic Power System Logic Power System Servo Power System FPGA Opto-Isolator GPS Servo Motors x6+ Compass ADC Camera x2 IR Sensor x5 Battery 1 Battery 2

19. Opto-Isolator Regulators

20. IR Comparators GPS

21. Board to Board Connectors

23. Budget

24. Milestone 1 Milestone 2 Expo • Mobile Tethered Bot • IR Obstacle Avoidance • Direction Awareness • PCB Testing Rev-1 • First Cart Frame • Revision • Mobile Untethered Bot • IR Obstacle Avoidance • + Camera Obstical • Detection • Fully Battery Powered • Cart • GPS Direction and • Position Awareness • Mobile Autonomous Bot • IR + Image Obstacle • Avoidance • Avoidance Pathing • GPS Navigation • Various Operating Modes

25. Division of Labor Hardware PCB Documentation Software HDL

26. RISKS • Wheels operating at same speeds • Inaccurate calculation of cart speed to judge distance traveled • Interrupt Controller

27. Questions???