1. T122001010BAC Speaker Name Slide 1 Earl Grey and The Boston Tea Party Present The Entourage

2. T122001010BAC Speaker Name Slide 2 Team Members  Casey Gold  Ellen Prommersberger  Nathan Winder  Steven Anderson  Tom Monikowski Ellen

3. T122001010BAC Speaker Name Slide 3 Purpose  Ease tedium of stop-and- go traffic  Improve safety of rush hour driving Ellen

4. T122001010BAC Speaker Name Slide 4 Objectives  Use sensors to determine position of car relative to other vehicles  Control acceleration and breaking based on distance away from leading vehicle  Control steering to follow lead car  Demonstrate concept on RC vehicle Ellen

5. T122001010BAC Speaker Name Slide 5 Concept Ellen

6. T122001010BAC Speaker Name Slide 6 Turning the Car Ellen

7. T122001010BAC Speaker Name Slide 7 System Overview Casey

8. T122001010BAC Speaker Name Slide 8 System Architecture Casey

9. T122001010BAC Speaker Name Slide 9 Processor and Memory Casey

10. T122001010BAC Speaker Name Slide 10 FPGA Casey

11. T122001010BAC Speaker Name Slide 11 Memory Mapping  Implement on FPGA  Code using Verilog Casey

12. T122001010BAC Speaker Name Slide 12 Software  Accept values from sensors Interpret as distances or hits/misses  Conditionally determine the course of action Speed and turning  Handle user warnings Tom

13. T122001010BAC Speaker Name Slide 13 Software Speed Adjustment Two major components to speed adjustments:  Relative velocities  Ideal distance Tom

14. T122001010BAC Speaker Name Slide 14 Software Speed Adjustment Tom

15. T122001010BAC Speaker Name Slide 15 Software Speed Adjustment Tom

16. T122001010BAC Speaker Name Slide 16 Software Speed Adjustment Tom

17. T122001010BAC Speaker Name Slide 17 Software Speed Adjustment Tom

18. T122001010BAC Speaker Name Slide 18 Software Speed Adjustment Tom

19. T122001010BAC Speaker Name Slide 19 Software Speed Adjustment Tom

20. T122001010BAC Speaker Name Slide 20 Software Speed Adjustment Tom

21. T122001010BAC Speaker Name Slide 21 Software Speed Adjustment Tom

22. T122001010BAC Speaker Name Slide 22 Software Speed Adjustment Tom

23. T122001010BAC Speaker Name Slide 23 Sensor Changes ULTRASONIC  +/- 5º beamwidth (actually +/- 5.25” at 60”)  13 pin output (requires about 7 FPGAs)  1 cycle/second  $20 each INFRARED  +/- 2” beamwidth at 0” - 60”  Single pin output (direct connect to A/D ports in HC11)  50 ms period  $12 each Ellen

24. T122001010BAC Speaker Name Slide 24 Sensors  Infrared analog output  Sharp GP2Y0A02YK  Range: 20 cm – 150 cm  Beam width: +/- 50mm Ellen

25. T122001010BAC Speaker Name Slide 25 Sensor Data Data Sheet Reflectivity Curve Experimental Data Reflectivity Curve Ellen

26. T122001010BAC Speaker Name Slide 26 RC Car Interface  Speed Control Maintain following distance relative to speed Constantly monitor speed of vehicle  Steering Incremental adjustment system Digital servos  Manual Control Disengages with driver input changes ENGAGE/DISENGAGE button Audio/Visual User Warnings Nathan

27. T122001010BAC Speaker Name Slide 27 Speed Control Functionality  Digital-Analog Conversion translates digital duty cycle to analog voltage  DC Motor: Linear Relationship between Voltage and Speed Nathan

28. T122001010BAC Speaker Name Slide 28 Speed Control Interface Nathan

29. T122001010BAC Speaker Name Slide 29 Speed Control Hardware Design Nathan

30. T122001010BAC Speaker Name Slide 30 Steering Interface  Digital interface with I/O port on FPGA  Smooth servo transition from 0º - 90º  0º corresponds to 6% duty cycle  90º corresponds to 9.5% duty cycle Nathan

31. T122001010BAC Speaker Name Slide 31 Manual Control Interface  RC controller operates at 75.75MHz  RC receiver outputs digital signals  Signals “RC SpeedControl” and “RC SignalControl” sent to FPGA  Change in signals indicates Manual Input/Override Nathan

32. T122001010BAC Speaker Name Slide 32 User Warning Output  Warnings output digital signals from FPGA  Signal “IntWarning” to warn of potential problems Slower frequency buzzing and flashing yellow LEDs  Signal “FinalWarning” to alert system disengagement Faster frequency buzzing and flashing red LEDs Nathan

33. T122001010BAC Speaker Name Slide 33 Power System Tether (120VAC – 15VDC) 5 V Regulator  Sensors  Processor  Memory  FPGA  DAC  RC receiver  Servos 3.3 V Regulator  EPROM Steve 15 VDC  DC motor  Current gain OpAmps  DAC

34. T122001010BAC Speaker Name Slide 34 Schedule Steve

35. T122001010BAC Speaker Name Slide 35 Deliverables Milestone One  Full prototype functionality Milestone Two  Implement on real Escalade Expo  Full Distribution to 10,000 Dealers Nationwide  ROI: 100 Million Dollars Steve

36. T122001010BAC Speaker Name Slide 36 Actual Deliverables Milestone Two  Final Bug-infested Software  Finalized Hardware mounted in vehicle Milestone One  Peripheral Hardware Tested and Built  Servos Mounted  Processor, Memory and FPGA fully functioning  Running preliminary Software Steve

37. T122001010BAC Speaker Name Slide 37 Division of Labor  Casey – FPGA/Processor Setup, Programming  Ellen – Controls, Sensors, Quality Control  Nathan – Control Interface, Hardware Design, Construction  Steven – Power, Construction  Tom – Math, Sensors, Software Design Steve

38. T122001010BAC Speaker Name Slide 38 Parts and Prices  RC Escalades (2) $70 ea  Optoisolators 6N139 (6) $0.25 ea  Infrared Sensors Sharp GP2Y0A02YK (7) $14.50 ea  DAC MAX5312 $10 (adaptor socket)  Buzzers/bicolored LEDs $1 ea  Prototyping materials $25  PCBs 2-layer Board $33 per revision  CPU 68HC11E0  FPGA XCS10  RAM CY62256  Flash ROM AT29C256  Bus drivers 74HC245 (2)  Latch 74HC373  Assorted logic chips  8MHz clock  EPROM XC18V256  OpAmps OPA548 (3)  RC receiver and servos Steve

39. T122001010BAC Speaker Name Slide 39 Possible Additions  Extra sensors  Programming for highway driving (higher speeds)  More accurate sensing for nonstandard vehicles  NOS Wet or dry shot?  Five 10” LCD screens  Streetglow Blue Blinking? Steve

40. T122001010BAC Speaker Name Slide 40 Wrap Up Haiku Escalade Rollin Entourage Wheels are Spinnin Bass that’s a Bumpin Steve