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RC Camera Car Systems Design Review P14226 9/12/13

Tim Southerton Brian Grosso Matthew Morris Lalit Tanwar Kevin Meehan Alex Reid. RC Camera Car Systems Design Review P14226 9/12/13. Adviser: Dr. Becker-Gomez. Agenda Items. Background Information Problem Definition Stakeholders RIT Customer Update Customer Requirements

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RC Camera Car Systems Design Review P14226 9/12/13

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  1. Tim Southerton Brian Grosso Matthew Morris Lalit Tanwar Kevin Meehan Alex Reid RC Camera CarSystems Design ReviewP142269/12/13 Adviser: Dr. Becker-Gomez RC Camera Car SDR

  2. Agenda Items • Background Information • Problem Definition • Stakeholders • RIT Customer Update • Customer Requirements • Systems Analysis • System / Hardware / Software Functional Decomp • Engineering Requirements • System / Software Architecture • Benchmarking • Chassis • Camera • Microcontroller • Wireless Comm. • Morph Chart / Pugh Matrix • Concept Selection • Course • Console • Chassis • Microcontroller Mount • System Prototyping • Chassis Prototyping • Adapter Plate Schematic • Weight Analysis • Differential Drive Simulink • Car Power Budget • Circuit Diagrams • Risk Assessment • Test Plan • Moving Forward RC Camera Car SDR

  3. Background Information Overview RC Camera Car SDR

  4. Problem Definition • Project Goal: • Build a RC car platform controlled remotely with intuitive controls and visual feedback that can be expanded to demonstrate Controls to college students. The project needs to be captivating and able to demonstrate multidisciplinary engineering innovation at various RIT events this year and into the future. • Deliverables: • RC Car Platform with Cameras and Sensors • Driving Station with Control • Equation of Motion of the System • Characterizing Parameters of the System • Source Code for Low Level Processing • Interface for Student Coding • Preliminary Differential Drive Code • Supporting Documentation RC Camera Car SDR

  5. Stakeholders • Customer: Dr. Juan Cockburn • Controls Professor, RIT, Computer Engineering (CE) • Sponsors: • RIT CE Department, Multidisciplinary Senior Design (MSD) • Freescale Semiconductor • Event Attendees: • Imagine RIT • Freescale Cup • Various Campus Symposiums and Workshops • MSD Team • Future RIT Researchers • Future RIT MSD Teams / Prospective Students RC Camera Car SDR

  6. RIT Customer Update • System customer is looking for long term was done by a student at UC Irvine • Balanced an RC car using controls algorithm • Major Issues: • HPI Racing Car ($) • Monster Truck Design • Titanium Geared Servo ($) • Precise, High Torque Steering • 22 State Variable Linearized System Model • Advising from 4 MIT Professors • Power to both wheels on the ground • High CG • Large, Soft Tires Two-Wheel Self-Balancing of a Four-Wheeled Vehicle David Arndt et al., IEEE Control Systems Magazine, March 2011 Balancing RC Car on Two Wheels RC Camera Car SDR

  7. Customer Requirements RC Camera Car SDR

  8. Systems Analysis To Current State RC Camera Car SDR

  9. System Functional Decomp RC Camera Car SDR

  10. Hardware Functional Decomp RC Camera Car SDR

  11. Software Functional Decomp RC Camera Car SDR

  12. Engineering Requirements • Revised metrics mapping to functional decomposition on all levels • Combined with constraints to make more meaningful function connections • Revised metrics with new benchmarking data • Mapped new metrics to needs with HOQ • Added tests to measure metrics for test plan Detailed Engineering Requirements RC Camera Car SDR

  13. System Architecture RC Camera Car SDR

  14. System Architecture (cont.) RC Camera Car SDR

  15. Software Architecture RC Camera Car SDR

  16. Benchmarking – Chassis • Few affordable chassis options available • Most RC cars have open differential drives • Custom chassis would require significant time • Freescale chassis is donated but needs many modifications RC Camera Car SDR

  17. Benchmarking – Camera RC Camera Car SDR

  18. Benchmarking – Microcontrollers http://upload.wikimedia.org/wikipedia/commons/3/3d/RaspberryPi.jpg http://www.mouser.com/images/microsites/Freescale%20Black%20Board.jpg http://www.liquidware.com/system/0000/3648/Arduino_Uno_Angle.jpg http://circuitco.com/support/images/2/23/REV_A5A.jpg RC Camera Car SDR

  19. Benchmarking – Wireless Comm. RC Camera Car SDR

  20. Morph Chart Concept Selection RC Camera Car SDR

  21. Pugh Matrix • First Pugh matrix low datum • Inspiration setup • High end option scores best but mid-range RC close • Custom Chassis may not be worth the extra cost/effort • Budget / time constraint issues • Current Chassis Good RC Camera Car SDR

  22. Concept Selection – Course • Tape Lines • Cones • Banked Course • Dog Fence RC Camera Car SDR

  23. Concept Selection – Console RC Camera Car SDR

  24. Concept Selection – Chassis RC Camera Car SDR

  25. Concept Selection – μC Mount RC Camera Car SDR

  26. System Prototyping • Predefined sponsor and provided chassis • Nature of RC car development lends itself to rapid prototyping and modification • Early prototyping conducted for further system integration testing • Documentation of modifications along the way to develop iterated platform design • Familiarization with platform and diverse microcontroller options crucial to successful project RC Camera Car SDR

  27. Chassis Prototyping Original Model Modified Version Movement! RC Camera Car SDR

  28. Adapter Plate Schematic • Adapter plate generated in cap to provide basis for future modifications • Design is simple and can be easily made using CNC for mass production • More CAD parts to be made for 3D printing RC Camera Car SDR

  29. Weight Analysis • Projected chassis weight slightly under last years RIT Freescale Cup car • Bigger wheels may help our car get over obstacles • Possibly looking for stronger motors for the drivetrain RC Camera Car SDR

  30. Differential Drive Simulink • Preliminary system model created with PI control algorithm • Modifiable once parameters established RC Camera Car SDR

  31. Car Power Budget • Car power budget currently predicts high battery capacity requirement for 1 hr runtime • Initial testing suggests that battery weight might be an issue • Possible change to specs after further testing RC Camera Car SDR

  32. Circuit Diagrams Console RC Car RC Camera Car SDR

  33. Total Project Budget RC Camera Car SDR

  34. Risk Assessment Current Risk Assessment • Financial Budget – Overshooting the project budget will cause the project to be incomplete. • Probable cause for this would be: • Bad benchmarking • Project plans not detailed (i.e. delays in shipping) • Budget will restrict the following: • Prototyping (Little to none depending on components chosen) • Multiple backup parts for breakdown • Lack of functionality RC Camera Car SDR

  35. Risk Assessment (cont.) • Runtime Breakdown/Failure – Breakdown of mechanical and electrical components during testing and runtime • Probable cause for this would be: • Bad shielding from elements/ poor electrical shielding and connections • Extreme stress tests/ poor mechanical integrity • Bad simulation runs/ poor software analysis • This will result in: • Dysfunctional product • Increased stress on already limited budget • More time spent on electrical and mechanical debugging/fixing RC Camera Car SDR

  36. Test Plan • Test Chassis and Console • Verify Physical Component Limitations • Test Wireless Communications • Functioning Distance • Record Data at Imagine RIT • User Feedback – Likert Scale • Statistical Driving Data • Finalized Project Deliverables • Total Cost, Event Entries, Component Specs, Included System Functionality RC Camera Car SDR

  37. Project Schedule • Next Three Weeks • Establish design for control station • Evaluate options for camera, microcontroller, and other electronics • Test chassis and determine spatial layout • Make choices based on price and power budgets • Continuous benchmarking of new technologies and ideas RC Camera Car SDR

  38. Moving Forward • Budget constraints need to be refined to go forward with component selection • More knowledge of control systems is needed to refine the Simulink model • Simulink / student interfacing of controls program needs to be better defined for microcontroller selection • Movement controller needs to be improved for future testing RC Camera Car SDR

  39. Additional Information • House of Quality • Test Plan RC Camera Car SDR

  40. Programmable Lap • Explored the option of using wheel revs and steering input to map a course for virtual mapping on a GUI • Does not account for slip in this version • Something to show driving paths using platform sensors RC Camera Car SDR

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