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Mars Rover

Mars Rover. By: Colin Shea Dan Dunn Eric Spiller. Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag. Outline. Project Summary Review of Previous Work Patents Project Description Data Sheet Equipment and Parts Preliminary Research Schedule Division of Labor. Project Summary.

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Mars Rover

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  1. Mars Rover By: Colin Shea Dan Dunn Eric Spiller Advisors: Dr. Huggins, Dr. Malinowski, Mr. Gutschlag

  2. Outline • Project Summary • Review of Previous Work • Patents • Project Description • Data Sheet • Equipment and Parts • Preliminary Research • Schedule • Division of Labor

  3. Project Summary • The main objective is to design the Rover for long battery life that must last 7 days without recharging. • The Rover will use PC104 to control the interface among the user and the Rover and high level software. • It will also use the MicroPac 535 microprocessor to control low level software such as the motors for motion, the sonar system, and the battery level. • The user will be able to enter a specific distance, move a predetermined distance, or rotate the Rover to get a preferred direction.

  4. Previous Work • 2002 • Rob Shockency and Randall Satterthwaite • Robotic Platform Design • EMAC 8051 and a CPLD • Design Goals 1. Create Cheaper version of Telerobotics 2001 2. Upgradeable and expandable in the future

  5. Patents The following patents were collected from the United States Patent and Trademark Office searchable on-line database using the keywords wireless, network, 802.11, web, camera, USB camera, PCMCIA, and hard disk • 6,484,029 Apparatus and methods for adapting mobile unit to wireless LAN • 6,453,159 Multi-level encryption system for wireless network • 6,486,832 Direction-agile antenna system for wireless communications • 6,434,132 Wireless LAN for reestablishing wireless links between hosts according to monitored

  6. Patents • 5,982,807 High data rate spread spectrum transceiver and associated methods • 6,005,613 Multi-mode digital camera with computer interface using data packets • 6,484,308 System and method for ensuring data integrity on a removable hard drive • 6,292,863 PC card • 6,336,142 Methods and apparatus for downloading data between an information processing device and an external device via a wireless communications technique • 5,619,396 Modular PCMCIA card • 5,231,693 Telerobotics

  7. Standards Internet Standards Most internet standards are documented in Internet Request For Comments which are indexed at Ohio State University. Java is trademarked by Sun Computer Systems. • RFC 791 - Internet Protocol (IP) • RFC 793 - Transmission Control Protocol (TCP) • RFC 826 - An Ethernet Address Resolution Protocol (ARP) • RFC 893 - Internet Protocol on Ethernet Networks • RFC 1866 - Hypertext Markup Language (HTML/2.0) • RFC 1945 - Hypertext Transfer Protocol (HTTP/1.0) • USB Standard is found from USB.org, the document is part of a zip file that also includes information on the newest standard USB 2.0.

  8. Functional Description • Wait mode – • All systems are powered, except the motors. • The CPU monitors the wireless card for network activity • The last image captured from the camera is displayed to the user. • Web page accessible to user • Battery Status is monitored • Sleep mode – • The sub-systems are powered down except for the CPU and the wireless network card. • CPU runs in a reduced power mode. • Web page accessible • Battery Status is monitored. • Rover remains in sleep mode until signaled by the user.

  9. Functional Description • Low battery mode – • Battery drops below 10% of charge • Email sent to Dr. Malinowski requesting a charge • Rover shuts down all components. • Charge mode – • Rover continues to charge until power button is pressed • Stays in this mode until battery level reaches 100% • User mode – • All Systems powered • Distance and Direction Control • Web Page accessible to user • Image capture and display • Battery Status is Monitored

  10. Functional Description

  11. System Block Diagram

  12. Software Flow Chart • High Level Software • Rover Control

  13. Software Flow Chart • High Level Software • Image Retrieval/Display

  14. Software Flow Chart • Low Level Software • Motor Control

  15. Software Flow Chart • Low Level Software • Object Detection

  16. Software Flow Chart • Low Level Software • Battery Voltage Level

  17. Preliminary Research Hard drives – Standard IDE Large power consumption Flash Card Very small power consumption Not large enough to run Linux PCMCIA Good power consumption Large enough to run Linux

  18. Preliminary Research Wireless Cards – Dell Truemobile Lowest power consumption Not compatible with Linux Linksys Good power consumption Compatible with Linux Cisco Higher power consumption Compatible with Linux

  19. Preliminary Research Computer Platform Format PC/104 PC/104+ SBC Processors Intel PIII ULV Transmeta Crusoe Processor National Semiconductor Geode Processor Boot Options Disk-on-Chip USB Floppy Expansion Options PCMCIA Serial

  20. Preliminary Research Format Differences: PC/104 – Based on a ISA bus expansion – supports 8bit and 16bit devices PC/104+ Based on a PCI bus expansion – supports 16bit and 32bit devices SBC – has no bus expansion, usually

  21. Preliminary Research Processors: Intel power highest power in sleep mode >1.0watts Transmeta Crusoe power lowest power in sleep mode <.05 Watts National Semiconductor power second lowest >.05Watts Speed: Intel – 450Mhz-1.0Ghz Transmeta 300Mhz – 700Mhz National Semiconductor 200Mhz – 333Mhz

  22. Preliminary Research • Battery Report: • A battery with the highest amp hours and lowest weight must be selected • After a meeting with the project advisors, the decision was made to use a 12V battery supply, primarily, the batteries used in the Robotic Platform Design. • Trickle charge applies a continuous constant low current to maintain charge • A deep discharge will shorten the life and partial discharges will extend life.

  23. Preliminary Research DC Motor Report: • Researched a 5V motor, but later the decision was made to use a 12V motor . • Pittman motors will be used for the Mars Rover. • major factor in determining which motor that will be used is the value of the load current.

  24. Power Calculations Power Consumption for Sleep Mode: PC104 computer .026A PC104 PCMCIA module .07A PCMCIA Hard drive .015A PCMCIA Wireless Card .009A EMAC .045A + _____ Total .165A 24hrs * 7days = 168hrs 168hrs * .165A = 27.72 Ah @ 5V 27.72Ah * 5V = 138.6Wh Using 2 - 12 Volt, 7.2Ah batteries: 12V * 7.2Ah * 2 = 172.8Wh available

  25. Power Calculations Power Consumption for User Mode: PC104 computer .8A PC104 PCMCIA module .07A PCMCIA Hard drive .4A PCMCIA Wireless Card .285A EMAC .045A Camera .1A 2 Polaroid Ultrasonic 6500 .2066A + ______ Total 1.9066A

  26. Power Calculations • Pittman GM9236 motors: • Total with motors 1.9066A + 16.9A * 2 = 35.7A • User is connected 3% of the time (or 5 hrs out of a week), then power consumption is as follows: • (1.9066A * 3% + .165A * 97%) * 168 * 5V= 182.48Wh without motors • ((33.8A*12V+1.9066A*5V)*3% + .165A*97%*5V)*168hrs = 2226.7Wh • With Pittman GM9X12 motors which pull 4.56A @ 12V: • ((9.12A*12V+1.9066A*5V)*3%+.165A*97%*5V)*168hrs =726.8Wh • To meet the requirements to run for 7 days without a recharge using 2 – 12V @ 7.2Ah batteries, the user would only be able to run the rover for 1.5hrs a week • ((9.12A*12V+1.9066A*5V)*.9%+.165A*99.1%*5V)*168hrs =179.1Wh

  27. Data Sheet Specifications Turning accuracy - ± 5° for an individual turn command Driving accuracy - ± 5cm and ± 2° for a 100cm command Camera capture speed – 5 frames/sec @ 324x288 resolution for a 10BaseT connection Weight – ~28lbs Battery life – 7 days without a recharge if user connects <= 1.5 hours a week Top speed – 10cm/s Speed range – 1 cm/s to 10 cm/s Acoustic sensors – Time between transmit signals – 10 seconds Farthest object detection – 200cm Closest object detection – 50cm

  28. Data Sheet Motors – Model number – GM9X12 Gearing – 1:65.5 Max current – 4.56A Voltage – 12V Wheel Sensors – Output – TTL Pulses per revolution of shaft – 512 Voltage required – 5V Battery charge level accuracy - ± 5% Wireless protocol – 802.11b Dimensions – 31.4cm x 46.4cm x 21cm (L x W x H) Battery – 2 - 12V @ 7.2Ah Wheels – 5cm x 16cm (Width x Diameter)

  29. Parts and Price List

  30. Division of Labor Dan DunnColin SheaEric Spiller Assembly Code Java Hardware - Motor Speed - Image Capture - DC Motors - Wheel Sensors - Rover Controls - Platform Construction - Battery Charge Level - Serial Communication - H-bridge/Motor Driver -Serial Connection -Acoustics Sensors Linux Linux Linux

  31. Questions and Answers

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