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Advanced Remote Monitoring and Operated Recon Device

Advanced Remote Monitoring and Operated Recon Device. Andrew Lichenstein Kevin Jadunandan Thomas Kehr. Special Thanks. Motivation. Dragon Runner surveillance robot Extremely Durable Fast and lightweight platform ≈$32,000 per unit Objectives: Fraction of the Price(< $2500)

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Advanced Remote Monitoring and Operated Recon Device

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  1. Advanced Remote Monitoring and Operated Recon Device Andrew Lichenstein Kevin Jadunandan Thomas Kehr

  2. Special Thanks

  3. Motivation Dragon Runner surveillance robot • Extremely Durable • Fast and lightweight platform • ≈$32,000 per unit Objectives: • Fraction of the Price(< $2500) • Maneuverability on all terrains • Wireless Control/Video • iPhone Control

  4. Hardware Block Diagram

  5. Specifications

  6. Chassis • Raw Material Selection • Suspension • Body Design • Component Mounting • Camera

  7. Chassis: Raw Material Selection Aluminum • Low-cost • Light weight • High cost of manipulation Fiberglass Composite • Extremely low cost • Easily manipulated • High Strength • Experienced with fabrication • Permeable to Radio frequencies • Plastic Composite • Extremely High Cost • High Strength • Light Weight • Requires Computer Generated Design • Carbon Fiber • High cost • High Strength • Complex manipulation

  8. Chassis: Suspension Aluminum Frame – 1/8” Aluminum Sheet • Provide mounting for components • No metal on metal; rubber washers Spring Suspension System • 32 Springs • 8 Motor Clamps

  9. Chassis: Body Design • Fiberglass-Composite Construction • Clam-Shell Design • Plug and Mold Fabrication 20” 7” 17”

  10. Chassis: Component Mounting Circuit Board and Motor Controller Camera

  11. Chassis: Polyurea Truck Bed Liner • Rhino Liner, etc. Extreme Durability • 41 MPa Tensile Strength Quick Reaction Time • Build up Multiple Layers Explosive and Ballistic resistance

  12. Drive Train • Geared Motor • Wheels and Locomotion

  13. Drive Train: Motor Selection IG42 Geared Motor • 24:1 Gear Ratio • 24V DC • 252 rpm • 2300mA • 10 kgf-cm Torque 1.75” 4.8”

  14. Drive Train: Wheels and Locomotion Wheels • Wheel + Tire • 10” Diameter • Custom Mounting Hardware Wheel Speed • Speed (fpm) = (Diameter of wheel (in) x π x rpm of motor) /12 • = (10” x π x 252) /12 = 659.7 ft/m • = 7.59 mph

  15. Power System • Batteries • Charging Circuit • Control Battery • Drive Battery

  16. Power System: Batteries NiMH Rechargeable Packs • 24V 4500 mAHr • Drive Battery • 12V 4000 mAHr • Control Battery 5" x 2" x 2" 10" x 2" x 2"

  17. Power System: Charging Circuit DPDT Switch • Toggles Between ON-OFF-Charge Military Style Locking Connector

  18. Power System: Control Battery Capacity = 4 AHr Current Drain of system = 795mA Estimated battery life ≈ 5 hrs

  19. Power System: Drive Battery Battery Capacity= 4.5 AHr Current Draw= 2300mA x 4 = 9.2 A Battery Life = 29.3 minutes

  20. Video System: Camera • 380-lines resolution • 150-foot range (no obstacles) • 900 MHz output frequency • Built-in microphone

  21. Internal Hardware • MCU • GPS • Communication • Motor Controller

  22. Internal Hardware: MCU Features our group looked for in MCU: • CPU Speed >= 4MIPS (10 MIPS) • Program Memory >= 16KB (32KB) • Internal Oscillator >= 4MHz (16MHz) • IO Pins >= 15 (30) • ADC >= 2 (15) • Program in C/C++ using MPLAB IDE • Temperature Range (-40 to 125 C) • PDIP *PIC18F4520 Max Spec’s in () PIC18F4520

  23. Internal Hardware: MCU • Communication is the most essential part of our robot, we will need to be sending and receiving data from our Gateway to be able to control our robot. We will be using the hardware USART pins on the MCU, which allows us to send serial data reliably. • Our MCU will need to be data parse incoming GPS updates which come in the form of a string of characters. We will be emulating the hardware by emulating the hardware, using software USART. • Motor Control will be done by having two variables set , one for the left motors and one for the right motors. We will be sending a value of 0 to 255, which will tell which motor to move and how which direction it should spin the motor. This also will be using software USART. • Battery life and Temperature value will be done using AD Converters of the MCU, which takes voltage as inputs.

  24. Communication: Options XBee vs. XBee Pro vs. Bluetooth Class 1 The Bluetooth was a bit to expensive and the regular XBee distance was a bit to small. This is why we chose the XBee Pro which was a good combination of both data rate and distance. We really only need 300 to 400 ft max for our application.

  25. Internal Hardware: GPS We originally were looking at the Copernicus GPS Module that was sold on Sparkfun, but after talking with other sources they pointed out to me the Falcom FSA03 unit. Here are the details of the unit: One of the best features of this chips is that it has a Sarantel helical antenna which lets you orient this GPS any way you would like , so you don’t have to make it point towards the sky.

  26. Internal Hardware: Temperature Sensors The TMP35  outputs a voltage based off the current temperature around the sensor. Using the linear equation below, we can get the temperature on our microcontroller and motors. Temp in °C = [(Vout in mV) - 500] / 10

  27. Internal Hardware: Battery Life Using two simple voltage divider circuits to lower the voltage to a max of 5 volts, we check the battery voltage every other second. Knowing our fully charged voltage we can make an assumption on our remaining voltage as the voltage gets lower.

  28. Communication: GPS Purpose The GPS’s main purpose was to be sending latitude and longitude to our microcontroller so that we could use this data with our iPhone application. The GPS sends NMEA(National Marine Electronics Association) data to our MCU; here is an example of what it looks like: $GPGLL,4916.45,N,12311.12,W,225444,A,*1D As you can see the data that is sent is not an easy to read format so our MCU will parse the data needed and send to a variable that will be sent out via XBee. Geographic Lat & Lon 123o11.12 Data Active Time(UTC) Checksum 49o16.45

  29. Motor Controller: Selection Originally we were thinking of creating our own motor controller using PNP BJTs but due to the fact we wanted stability and more features we decided to buy the Sabertooth 10A Dual Motor Controllers. One of the key features that we really liked as a group was that it is a regenerative motor driver, so when the robot stops or reverses it recharges the batteries with the wasted energy. It also has over current and thermal protection which means we won’t have to worry about damaging the motor controllers.

  30. Motor Controller: Setup • In our setup we will be using two motor controllers in parallel. So we will be using one pin on our MCU a Tx line that uses software USART that connects to the S1 ports on the motor controllers. • The Tx line on the MCU will transmit to both of the motor controllers S1 lines at the same time. We will be sending values of 0 to 255 to the motor controllers . • A value of 1 to 127 controls the left motors and a value of 128 to 255 controls the right motors

  31. MCU Software Diagram RECEIVE THREAD SEND THREAD DATA STRUCTURES -Left Motor -Right Motor -GPSLat -GPSLon -BatteryLife

  32. Board Design Prototype • Created in EagleCAD • Screw Terminals make it easy to connect peripherals and stop wires from falling out

  33. Custom PCB • Using a flatbed plotter we make our own single sided PCBs for testing purposes. We can create 15 PCBs for less than $25.

  34. Gateway / iPhone Interface Software applications • iPhone Application • Gateway Application • Last Minute Add-on: iPad App

  35. Software Communication

  36. Software iPhone Application • Primary controlling device • Touch based interface • Displays map with location of user and ARMORD

  37. Software iPhone Application • Written in Objective C • Apple’s object oriented version of C • Runs all C code natively • Xcode IDE and Interface Builder • Provides drag and drop UI design

  38. Software: iPhone GUI

  39. Software: iPhone GUI

  40. Software: iPhone GUI

  41. Software: iPhone GUI

  42. Software: iPhone GUI

  43. Software: iPhone

  44. Software: iPhone Distance Calculation • Uses latitude and longitude • Distance in miles = 3963.0 * arccos[sin(lat1) *  sin(lat2) + cos(lat1) * cos(lat2) * cos(lon2 - lon1)]

  45. Software: Gateway Application Purpose • Wireless bridge between the iPhone and the ARMORD • Necessary because iPhone cannot easily connect to the XBee module • Communication • Wi-Fi – iPhone • XBee – Robot

  46. Software: Gateway Application Requirements • Wi-Fi connection • COM port access Options • C# • Java Decision – C# • Simple TCP Server and COM Port Access

  47. Software: Gateway Application

  48. Software: Gateway Application

  49. iPad Control Scheme • Turning - Accelerometer based • Forward/Reverse – Slider • “Steering Wheel”

  50. iPad – Screenshot

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