RC Camera Car Detailed Design Review P14226 12/10/13

1. Tim Southerton Brian Grosso Matthew Morris Lalit Tanwar Kevin Meehan Alex Reid RC Camera CarDetailed Design ReviewP1422612/10/13 Advisor: Dr. Becker-Gomez RC Camera Car DDR

2. Agenda Items • Background • Problem Definition • Stakeholders Review • Major Purchase • Camera and Video Transmission • Total Budget • Power Budget • Weight Analysis • Component Layout • Component Updates • Performance Data • Differential Drive Speed • Engineering Req.’s Review • Dashboard Indicators • Console Construction • Car Bumper Rev 2 • MBED Programming • Simulink Interfacing • Steering Wheel Modifications • Dedicated Computer • Car Electronics Plan • Schematics • Console Flow Chart • Course Components • Lab Topics • System Functional Decomp. • Risk Management • MSD II Planning RC Camera Car DDR

3. Problem Definition Review • 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 Controller • 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

4. Stakeholders Review • Customer: Dr. Juan Cockburn • Controls Professor, RIT, Computer Engineering (CE) • Sponsors: • RIT CE Department, Multidisciplinary Senior Design (MSD) • Freescale Semiconductor • RIT FMS (Chris Furnare and Jim Shuffield) • RIT ME Department (Bill Finch) • Event Attendees: • Imagine RIT, Freescale Cup 2014 • Various Campus Symposiums and Workshops • MSD Team • Future RIT MSD Teams / Prospective Students RC Camera Car DDR

5. Camera and Video Transmission • Ready Made RC LLC – Ohio – US • Custom 5.8 FPV Starter Package: $232.70 • RMRC-420XV NTSC CCD Camera • ImmersionRC 600mW 5.8GHz Video Transmitter • Uno5800 5.8GHz Receiver • Standard Whip Antennas • 2 x RMRC 1100mAh Batteries • LiPo Charger and Voltage Level Indicator • Amazon: $37.26 RC Camera Car DDR

6. Total Budget Total Budget 12-6-13 • Min. Projected Remaining Expenses $141.40 • Course Materials, Assorted Extras • On Target: $505.25 Total to be Spent • Long Lead Time Items Ordered at Minimum Cost • Approximately $363.85 Spent Thus Far • Approximately $1328.25 in Total Value of Parts • Student Donated ~$170 • Freescale Donation ~$600 • Caster City Donation ~$60 • FMS / Free Items ~$80 • ME Dept. Donation - Free Computer, Table Surfaces ~$50 RC Camera Car DDR

7. Power Budget • Camera runtime estimated at ~4 hrs • 2 LiPo Batteries coming for camera which can be one off one on charging • Far exceeds specs • Car runtime estimated at ~4 hrs • Additional NiMH battery available from CE Department • Far exceeds specs RC Camera Car DDR

8. Weight Analysis DDR Weight Analysis • Components weighed and values for those not purchased tabulated • <10% More than 2013 RIT Freescale Cup Car • 20% Less than when car tested for performance (batteries weight will be less on final product) • Car will be able to move all the necessary components without issue RC Camera Car DDR

9. Component Layout • Scale CAD model made of car electronics layout to verify that everything will fit • Significant room for expandability RC Camera Car DDR

10. Performance Data Performance Testing • Car tested with RC controls + Arduino taking encoder data and transmitting back to laptop through Xbee’s • Car run with two RC batteries (high weight) and car easily made it over Freescale bump • Gathered performance data that compared favorably with metrics • Information gained on bumper functionality, drivability, and clearance RC Camera Car DDR

11. Performance Data RC Camera Car DDR

12. Differential Drive Speed • Accelerometers unrealistic for linear speed measurement • Linear speed of car to be determined by averaging left and right wheel speeds • Used as reference for feedback loop • Easily available data for Simulink • Possible integration into console display RC Camera Car DDR

13. Engineering Req.’s Review Detailed Engineering Requirements • Preliminary Testing Results: • 0 to Max Speed 2.8s • Max Speed to 0 2.4s • Max Speed 10ft/s • Max Range 141 ft • Addressed Items: • Dashboard Indicators • Dedicated Computer for Project RC Camera Car DDR

14. Dashboard Indicators • Freescale automotive division MC9S12HY64 instrument cluster demo board donated for project • Stand built for protection and viewing Movement! RC Camera Car DDR

15. Console Construction • Console updated with lower mounting height difference between chair and table base • Changed to moving table toward user for safety • Found better desk and base surface RC Camera Car DDR

16. Console Construction • Temporarily mounting casters and screen • New casters to be expected near start of MSD II • Possible seat belt for authenticity, time depending • Possible seat plate with team information RC Camera Car DDR

17. Car Bumper Rev 2 • New bumper design made with driving feedback (protection) • Polyethylene foam cut using hot wire foam cutter RC Camera Car DDR

18. MBED Programming Freedom Board, Xbee, Accelerometer, MATLAB Testing • MBED functionality with Xbee’s and MATLAB for KL25Z Freedom Board confirmed RC Camera Car DDR

19. Simulink Interfacing • Serial information can be directly imported / exported from Simulink model • This will be integrated with Brian’s model to output motor speed signal • Simple interface for students to program http://www.mathworks.com/help/releases/R2013b/instrument/srcblkparam.gif RC Camera Car DDR

20. Steering Wheel Modifications • Access hatch added to allow for quicker electrical work and internal component mounting • KL25Z board mounted inside and wires connected to board outputs for interfacing with board RC Camera Car DDR

21. Dedicated Computer • Change of approach on console side to controller and Xbee’s communicating directly with computer • Simulink running controls application on computer with serial in/out communication • Need for dedicated computer for project to reduce program version issues and increase robustness of final deliverable RC Camera Car DDR

22. Car Electronics Plan • Using TLC Motor Shield on KL25Z • Replacing pin headers on motor shield with through pin headers to access unused pins • Attaching Xbee and encoder circuits using a perfboard shield on top of motor shield • Use existing switches, potentiometers, LED’s, and servo outputs as necessary RC Camera Car DDR

23. Schematic – H-Bridge RC Camera Car DDR

24. Schematic – H-Bridge RC Camera Car DDR

25. Schematic – Motor Shield RC Camera Car DDR

26. Schematic – Motor Shield RC Camera Car DDR

27. Schematic – Encoder Circuit RC Camera Car DDR

28. Schematic – Accessories RC Camera Car DDR

29. Console Flow Chart RC Camera Car DDR

30. Course Components • Freescale Cup Tarp • 15’4” x 20’4” • Stored in MSD Area • Used on Floor with Tables Moved • Course Edging and Obstacles • TBD Budget Depending • ~$60 Available • Fix Freescale Bump • Storage Limited RC Camera Car DDR

31. Lab Topics • 1) Physics Theory - Brian's Differential Drive Model • Assumptions and Turning Radius / Speed Formulas • 2) Controls Application • Wheel Speed Averaging and PI Control • 3) Console Microcontroller Information • Microcontroller / Electronics • Console Controls and Outputs • 4) Chassis Construction and Information • Car Steering Servo and Drive Motors • Stats - Wheelbase, Track, Weight, Time Constants • Battery and Power Management • Assembly Instructions RC Camera Car DDR

32. Lab Topics • 5) Car Microcontroller Information • Microcontroller / Electronics • Car Inputs and Outputs • 6) Wireless Communication Information • Xbee Distance Stats and Info • Camera Distance Stats and Info • X-CTU, Updating, and Bricking Issues • Using Xbee's with MBED • 7) Simulink Interfacing • Readings Data into Simulink • Outputting Data from Simulink • 8) Testing • Uploading Code • Implementing Model Changes • Verifying Results • Sample Code and Demo • 9) FAQs and Troubleshooting RC Camera Car DDR

33. System Functional Decomp. Successfully Completed Addressed with POC MSD II RC Camera Car DDR

34. Risk Management Risk Management RC Camera Car DDR

35. Test Plan 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 DDR

36. MSD II To Do Short List • Wheel Speed Sampling Solution and Testing • Optical Gate Speed Testing • KL25Z Xbee / Motor Controller Integration • Controls Application Software Integration • Table Surfacing and Component Mounting • Course Design • Component Mounts • Aesthetics RC Camera Car DDR

37. MSD II Planning MSD II Planning • 36 items identified for MSD II • Week 5 Demo • Working Car using Console Drive Controls • Week 8 Demo • Working Controls Applications • Week 12 Demo • Working Course and Car • Still plenty of work to be done RC Camera Car DDR

38. Additional Slides P14226 EDGE Site RC Camera Car DDR