ECE 477 Final Presentation Team 10  Spring 2013

1. ECE 477 Final Presentation Team 10  Spring 2013 Ruiyang Lin Julia Liston Vipul Bhat KrithikaIyer

2. Outline • Project overview • Block diagram • Design challenges • Individual contributions • Project demonstration • Questions / discussion

3. Project Overview • Our team’s goal was to build a prototype of a robot that can: • Use GPS to locate a lost person • Autonomously navigate towards the person while avoiding obstacles • Made up of two parts: • Rescue-point transceiver, which communicates GPS coordinates via RF • ARV (Autonomous Rescue Vehicle), which navigates towards the transceiver

4. Block Diagram Autonomous Rescue Vehicle (ARV) Ultra-Sonic Range Finder Analog Battery Monitor Module PWR level (Analog) Microcontroller (PIC32) Ultra-Sonic Range Finder Analog Ultra-Sonic Range Finder Power Supply Module Analog RF Receiver Module (Xbee Pro) Module 3.3V PWR ON/OFF UART (8 bit) 7.2 V GPS Module UART (8 bit) Motor Drive IR Receiver

5. Block Diagram (continued) Rescue-Point Transceiver +3.3 V Power Supply Module Microcontroller RF Transmitter Module (Xbee Pro) GPS Module UART (9 bit)

6. Design Challenges • Hardware issues – Motors draw a lot of current • No Compass - had to make calculations based on distance traveled • Quality of GPS module - had to accommodate for GPS error • Testing – GPS took a long time to find satellite, weather condition critical.

7. Individual Contributions • Team Leader – Ruiyang Lin • Team Member 2 – KrithikaIyer • Team Member 3 – Julia Liston • Team Member 4 – Vipul Bhat

8. Team Leader – Ruiyang Lin • Main Responsibilities: Motor drive, power supply • Initial motor drive and power supply design • Battery monitor module design • PCB layout • Hardware: • Motor drive, power supply, battery monitor module • Helped with testing RF module and GPS module • Software: • Initial programming (ADC, PWM, Timer) • Obstacle detection & Navigation algorithm

9. Member 2 – Krithika Iyer • Main Responsibilities: RF and GPS • RF module hardware interfacing in the Rescue-Point Transceiver and ARV • RF transmitter and receiver software development • GPS module hardware interfacing • GPS data extracting and processing for navigation • Debug circuit design • Software for Infrared Sensors • Helped Julia in the Navigation algorithm

10. Member 3 – Julia Liston • Main Responsibility: Navigation Algorithm • Initial design • Integration with GPS module • Obstacle Detection Algorithm • Software organization and modularization • Housing for the transceiver and mounting for the ultrasonic sensors • General team support: website, soldering, hardware testing

11. Member 4 – Vipul Bhat • Main Responsibility: Obstacle Detection Algorithm • Supporting role in Navigation Algorithm • Supporting role in motor drive and power supply implementation • Assisted with GPS testing • Emergency team rescue

12. Project Demonstration • An ability to move and steer using appropriate motors and drive systems • An ability to transmit GPS coordinates from the rescue-point transceiver to the robot via an RF module • An ability to receive and process GPS coordinates on the robot and move toward the given coordinates • An ability to detect obstacles and navigate around them using ultrasonic sensors. • An ability to monitor the battery level of the robot https://engineering.purdue.edu/477grp10/Documents/ARV_video.m4v

13. Questions / Discussion