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Project NadeCam

Project NadeCam. Charles Chen Katie Corner Danny Costinett Bob Pomeroy Jeries Shihadeh. Overview. Bob. Project Review Implementation Hardware Software Division of Labor Budget Schedule Progress and Concerns Questions. Project Review. Bob. NadeCam Thrown camera unit

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Project NadeCam

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  1. Project NadeCam Charles Chen Katie Corner Danny Costinett Bob Pomeroy Jeries Shihadeh

  2. Overview Bob • Project Review • Implementation • Hardware • Software • Division of Labor • Budget • Schedule • Progress and Concerns • Questions

  3. Project Review Bob • NadeCam • Thrown camera unit • Receiver station to capture images • Present images in interactive 3D view • 640x480 JPEG • 1 FPS Minimum

  4. Power Management Energy Storage LDO 1 Digital Camera 1 Digital Camera 2 Data Transmission LDO 2 Data Processing/Storage Energy Storage Sensor FPGA Counters Additional Components Data Bus SRAM Control Bus µProcessor Accelerometer Gyroscope RF Transceiver PC Base Station Magnetometer RF Transceiver RS-232 Transceiver Matching Network Jeries

  5. Camera Choice and Use Charles

  6. Cameras • Currently Have: • COMedia Ltd C328-7640 • Low Cost Camera Unit w/ JPEG compression • Videology 20K14XDIG • 1/4” Color CCD Board Camera Charles

  7. C328-7640 Camera • Multiple Color formats and resolutions + RS232 communication • Connected to STK500 board and tested w/ Logic Analyzer initially, then MatLab • Found to be very unreliable (Auto-Baud rate detection is questionable) Charles

  8. C328-7640 Camera Charles • Instruction Sequence: Reset (AA 08 00 00 00 00) Sync (AA 0D 00 00 00 00) Ack (AA 0E 0D xx 00 00) Sync (AA 0D 0D xx 00 00) Ack (AA 0E 0D xx 00 00) Initial Preview, VGA resolution (AA 01 00 06 07 xx) Ack (AA 0E 01 xx 00 00) Snapshot Picture Type Uncompressed Ack (AA 0E 05 xx 00 00) Get Picture Ack (AA 0E 04 xx 00 00) Picture Info (AA 0A 01 ~~ ~~ ~~) Picture Data Stream Ack (AA 0E 0A xx 00 00)

  9. C328-7640 Camera Charles

  10. 20K14XDIG • Digital output, w/ automatic gain control, backlight compensation, and white balance • Shutter Speed 1/60 s to 1/100,000 s • I2C control communication Charles

  11. Orientation Accelerometer, Magnetometer and Gyroscope µProcessor Accelerometer Gyroscope Magnetometer Katie

  12. Accelerometers Katie • Detect down (but useless in freefall) • For prototyping and comparison: • Freescale MMA7455L: ±2g/±4g/±8g Three Axis Low-g Digital Output • STMicro LIS3LV02DL: 3-axis - ±2g/±6g • Final Choice (±16g, availability): • Analog Devices ADXL345: Three-Axis, ±2/4/8/16g Digital Accelerometer • Cost: $7.08 each (on DigiKey)

  13. Gyroscopes Katie • Detects angular velocity • Capable of correcting errors in magnetometer data • Much higher sampling frequency than magnetometer • Chosen parts, if needed: • STMicro LPR510AL, pitch & roll / yaw • 100-400 o/sec maximum detection

  14. Magnetometers Katie • Can detect relative location, but not helpful near strong magnetic fields • Chosen part: • Honeywell HMC5843: 3-Axis Digital Compas IC • I2C Interface • 2.5V – 3.3V Operating Range • Cost: $19.20 each (on DigiKey)

  15. Data Transfer and Storage FPGA and SRAM Digital Camera 1 FPGA Counters SRAM Charles

  16. FPGA Charles • Takes data from camera • Compress image data coming out of camera • Writes image data into SRAM • Used Cyclone II in Digital Logic

  17. FPGA • Use 3rd party models for: • Testing – SRAM Simulations • Compression • Cast JPEG-E Baseline JPEG Encoder Megafunction • Available to Sample • “Can encode over 30 frames/sec for 4:3 HDTV, 1440x1152“ Charles

  18. Memory Structure Bob Address bus tied to three 8-bit Binary Up/Down counters FPGA -> Data In Bus -> SRAM SRAM -> Data Out Bus -> uProcessor FPGA can only write to SRAM uProcessor can only read from SRAM

  19. Bob

  20. Control Microprocessor Danny

  21. Bob

  22. MicroProcessor Danny Texas Instruments MSP-430 Controls Camera via I2C Samples the Orientation Sensors and stores a position vector After image capture complete, sends data to the transceiver

  23. Data Write Procedure Danny uProcessor triggered by FPGA to sample sensors on picture FPGA alerts uProcessor that it’s using the memory, writes the image+position data to SRAM FPGA increments the counters connected to the SRAM address bus FPGA alerts uProcessor that data write is complete

  24. Communication Timing Danny

  25. Power Managment Bob

  26. Power Management One-time use device Sleep power consumption low for long inactive lifespan Use standard batteries Bob

  27. Power Management Bob

  28. Data Transmission uProcessor and Transceivers RF Transceiver PC Base Station RF Transceiver RS-232 Transceiver Matching Network Danny

  29. Data Transmit Procedure Danny uProcessor raises read line, waits for FPGA to finish write to SRAM Reads the image + orientation data out of memory Decrement address counters after each Send data to transceiver

  30. nRF24L01+ 2 Mbps on-air data rate 32 byte shockburst mode Often used in low-power applications Danny

  31. Range Test Using Chip and Trace antennas Able to transmit through multiple walls/floor Danny

  32. User Interface Software Jeries

  33. Graphical User Interface Jeries • Completed • User Interface Layout • User Interface Interaction • Localized Mouse Clicking • Drop Down Menu • Rotating display • Steeping through trajectory path • Work to be Accomplished: • Display each time instant with correct orientation

  34. User Interface Initial Display Jeries

  35. Time Instant Display Jeries

  36. Image Processing Flow at Base Station Data via RS-232 Store and Parse Data Packets MATLAB Resave as .bmp Resize Image: Dimensions multiple of 2 Crop Image to square Store Images in folder Compute Initial Position (Accelerometer) Compute Orientation (Magnetometer) Store results plus timestamp in text file Graphical User Interface OpenGL Katie

  37. Graphical User Interface • Possible Additional Features: • Animate NadeCam trajectory path • Image Processing • Lowlight detection • Face recognition Katie

  38. Logistics Jeries

  39. Division of Labor Jeries • Bob and Charles • Camera Control • Pre-Processing • Data Storage • Danny • PCB Design • Microcontroller • Power System • Katie and Jeries • Post Processing • UI Design • Orientation Sensing

  40. Current Expenditures Jeries

  41. Budget Jeries

  42. Schedule Bob

  43. Milestones Milestone 1: New camera operational MCU able to transmit sensor data via RS-232 Images oriented based on sensor data Milestone 2: Camera and sensor data synched Multiple pictures stored and transmitted via RF Expo: Meet frames per second goal Packaged Device, extras. Bob

  44. Progress and Concerns Progress Basic camera images captured Graphics ‘Sky-Box’ complete RF Link demonstrated FPGA with SRAM use setup All parts chosen, test PCB ordered Concerns Use of orientation sensors (magnetometer noise) New camera, new challenges Time! Bob

  45. Questions?

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