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Roboat Final Presentation

Roboat Final Presentation. Jonathan Friedman Dave Maccaferri Josh McKenna Chris Wieczorek. Roboat Project Goals. The Roboat platform is intended to be an autonomous robotic system for marine application in both the government and commercial sectors. Features

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Roboat Final Presentation

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  1. Roboat Final Presentation Jonathan Friedman Dave Maccaferri Josh McKenna Chris Wieczorek

  2. Roboat Project Goals The Roboat platform is intended to be an autonomous robotic system for marine application in both the government and commercial sectors. • Features • 1 PIC18F452, 2 PIC18F252 Embedded Microcontrollers • 50x50 pixel, 4 bit color Digital Camera • Onboard Digital Compass and GPS Unit • 19,200 baud Serial Data link • Windows GUI Interface Percent Completed 86% 100% 100% 100% 95%

  3. Embedded Systems-Overview

  4. Embedded Systems-Schematic Maxstream XStream Modem Gameboy Camera and Maxim 114 A/D PNI Vector 2x Digital Compass PIC18F252 GPS & Camera GPS LM2940 Voltage Regulator Mast Headers PIC18F252 Modem DIP Switches RS-232 Breakout PIC18F452 Navigation and Host

  5. Embedded Systems-PC Board PC Board-Top PC Board-Bottom • Layout from OrCAD schematic • Routing preformed by OrCAD and by hand due to density of board • 537 holes, 60 feet of trace, 67 parts in a minuscule 27 square inches • PCBoard fabricated by PCBExpress- $100, 24 Hour completion

  6. Embedded Systems-MicroControllers Navigation & host Controller PIC18F452 Camera & GPS Controller PIC18F252 Modem Controller PIC18F252 2.5 Mhz (6.25Mbps) interrupt driven, random initiation, single-point arbitrated, Serial Peripheral Interface (SPI) on-boat data bus among 4 devices (PIC’s + Compass).

  7. Embedded Systems-On Boat Data Flow GPS & camera data stream limited to once per second (~5ms bus transfer time) by PIC#2 GPS PIC#2: SLAVE CAMERA Termination point for navigation data. Telemetry generation point. PIC#1: MASTER Fully asynchronous communication Command Console MODEM PIC#3: SLAVE Data packing and processing. Scheduled (generation limited) Unscheduled (random arrival)

  8. Embedded Systems-Mechanisms of Bus Arbitration • Scheduled production of output (Compass) • Bandwidth limited production of output (GPS, Camera) • Feedback-based flow control (buffer overflow interconnects among PIC’s) • Panic data loss (Ability to give up on this data and just look for the next) • Hardware flow-control and buffering (Modem, PIC#2, PIC#3)

  9. Physical Boat

  10. Physical Boat-Under the Cabin Push Button Toggle Switch (hidden) 27MHz / Microcontroller Switch (hidden) LED Mast Gameboy Camera

  11. Physical Boat-Under the Deck

  12. Video

  13. Video • Specifications • Analog Output • 8-bit (256 Colors) Capable • 4-bit depth used • Works with A/D converter to interface with PIC • Functionality • Image Acquisition • Streaming Video (1 fps) • On-the-fly adjustable Gain and Exposure Settings

  14. Video • Initial Images Stages • Improved 32x32 Resolution Pictures • Improved 50x50 Resolution Pictures

  15. Video • Camera Mounting and Cabling

  16. Navigation

  17. Navigation Properties: • SPI • Calibrates for constant magnetic fields • Binary Output • Fast settle time (5 Hz) Functionality: • Heading changes • Check GPS heading data

  18. Navigation (continued) Waypoint Heading • MACRO driven • 3 major turns and 1 corrective turn per side • Heading relayed from GPS every second • This guarantees accurate comparisons between the waypoint heading and current heading • Averages 3 heading readings when running straight • Counters the boat rocking Straight -5 +5 Corrective Right Corrective Left Light Right -15 +15 Light Left -45 +45 Med Right Med Left -90 +90 Hard Right Hard Left 180

  19. SPI/RF Protocol • Example packet: Panic Stop • FF 21 00 FF 00

  20. GUI • Multithreaded Windows Application • Ability to command Roboat. • Display Roboat telemetry data. • Calculate the heading to a waypoint and then transmit it to the Roboat • Display images from the onboard camera. • Provide a waypoints list.

  21. Project Management • A Yahoo group was used for group collaboration • Tasks where segmented according to core competencies. • Hardware/software was codeveloped. • More than 150 e-mails were sent among group members • The team found that the Lab space was lacking in basic engineering tools such as millimeters, DC Power supplies, and oscilloscope probes, solder stations, and mechanical tools. An entire 3042 lab setup would have been useful.

  22. Updated Gantt Chart

  23. Questions?

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