1. Charell Codner, Rollan “Buddy” Haller, Hazel Madolid and My-Linh Truong Group 17 *Sponsored by UCF Center for Entrepreneurship & Innovation

2. The Problem Stereo Systems Heavy Not as portable Limited hands- free convenience MP3 players Limited hands- free convenience

3. Our Solution Portable Hands-Free High sound quality

4. Key Design Objectives Follows user with IR Avoids obstacles with Ultrasonic Sensors Voice-controlled Plays MP3 files

5. Subsystems MICROPHONE VOICE-CONTROL CHIP VOICE-CONTROL SUBSYSTEM MASTER MICROCONTROLLER BATTERY GENERAL SUBSYSTEM MP3 PLAYERSPEAKERS MUSICAL SUBSYSTEM SENSORS MOTORS WHEELS MOBILITY SUBSYSTEM

6. MICROCONTROLLER

7. Microcontroller  PIC 18F4515  Mikro C  SPI-Port Expander for Voice-Control  Software UART- ultrasonic sensors

8. Software: Master MC MRC is turned on by voice. Initialization Get IR Data Determine Drive Direction Get Voice Data Check Buttons

9. DISPLAY

10. Monochrome Text Display Specifications for CFA632-YFB-KS Display TypeMonochrome InterfaceSPI PolarizerTransflective View Direction6:00 Backlight ColorYellow-Green Supply Voltage4.75 V to 5.25 V Overall Current (100% backlight) 380 mA

11. POWER SUPPLY

12. Power Supply Needed to be able to supply +/- 12v, 5v, and 3.7v. High power output for the speakers and motors. Be powered by two 12v batteries. Ideally, tolerant for voltage surge from motor start-up. Be efficient as possible. High frequency switching for noise considerations. Batteries need to have high capacity, high power draw.

13. Power Supply: Batteries Car Battery Specifications Voltage12v Max Discharge RateOver 100 A Capacity~720 watt-hrs Min. Run Time4 hrs

14. Power Supply: +/- 12V Specifications of +/- 12V Railings Input Voltage Min0.37v, 12.37v Input Voltage Max35v, -32v Output Voltage12v, -12v Output Current Max (Steady)3 A, 2 A Output Power Max (Steady)36 W, 24 W Average Efficiency> 80%

15. Power Supply: 5v Specifications of 5 V Railing Input Voltage Min6v Input Voltage Max24v Output Voltage5v Output Current Max (Steady)1.5 A Output Power Max (Steady)7.5 W Average Efficiency~50%

16. Power Supply: 3.7v Specifications of 3.7v Railing Input Voltage Min 1.5+curre nt max Input Voltage Max35v Output Voltage3.7v Output Current Max (Steady)1 A1 A Output Power Max (Steady)10 W Average Efficiency<80%

17. EXTERIOR

18. Exterior The MrC has a wooden frame. The MrC has an aluminum shell. It has two arms that swing out to allow for stereo channel separation. Overall, similar in size to a wagon.

19. TRACKING & COLLISION AVOIDANCE

20. Goals of Tracking Subsystem Actually the composition of two systems: user tracking and obstacle avoidance Detect and track the user in order to follow them Detect and avoid objects it encounters while in motion for autonomous movement Function well both indoors and outdoors Cost effective Small Low power

21. Sensors User Tracking: Combination of a user- carried IR beacon and phototransistors OED-EL-1L2 (LED) Peak wavelength is 940 nm Radiant intensity is 60 mW/SR Half angle is ±30 degrees (60 degree beam angle) Lens finish is Water clear LTR-301 (Sensor) High sensitivity Peak wavelength 940 nm Viewing angle is ±20 degrees Operating voltage is 5 V Lens color is clear transparent Obstacle Avoidance: Ultrasonic sensors URM V3.2 Ultrasonic Sensor Detection range of 4 cm – 500 cm (5 m) Interface RS232 (TTL), PWN Lightweight (30 g) 5 V power 1 cm resolution Operating modes: Serial (PWM) passive control mode, Autonomous mode, On/Off mode

22. Transmitter Beacon Multiple LEDs and a lens will be used to help increase the beam’s radiant intensity Lens will also help to focus the light beam and counter some of the outside noise from other light sources. Pulsing the circuit has other benefits in addition to filtering; it increases the instantaneous intensity of the LED and may also help improve battery life.

23. Beacon Sensor Infrared sensors will collect readings on whether or not they can detect the beacon carried by the user The distance gap allowed between the MRC and the user in following mode may range from 2 feet to 7 feet so therefore the beacon should be able to transmit and be received at a distance of 9 feet (3 meters) Readings will be used to determined the user’s location relative the a virtual map

24. Sensor Placement (Virtual Map)

25. Obstacle Avoidance Subsystem Sensors will be used in serial mode Readings that are taken will compared to the desired threshold value Object Detection Threshold: 61 cm ( ~2 ft ) The sensors will output anytime an object exceeds the set threshold COMP/TRIG pin will pull low as an indication The goal is to detect objects and not have the MRC come within 61cm (about 2 feet) of the detected objects This data will be useful when deciding which driving directions the MRC can proceed in Object detection should be as close to 180 degrees in front of the MRC as possible

26. Sensor Placement Placement Design for the Ultrasonic Sensors

27. MOTORS/WHEELS

28. Motors/Wheels Needed to be able to propel the MrC. Easy to control. Preferably DC powered. Ideally be able to keep up with a human walking. Tank steering will be used.

29. Motors Motor Specifications Max Load250 lbs Power Input60 W Operating Voltage24v Max Speed4 MPH

30. Motor Controller VSI 50A 50 amps Output voltage = 24V Input voltage = 24V Regenerative breaking Auto-brakes Capable of forward and reverse

31. Wheels Rotation Rate = 131 RPM Torque = 33.33 ft * lbs Wheel diameter = 8 in

33. Goals of Voice-Control Subsystem High accuracy -> Voice control is a key feature in the MRC’s design Adequate vocabulary size (9 command words + 1 passphrase) Speaker independence Continuous listening Easy to interface and program Cheap

34. Speech Recognition Chips VR Stamp RSC-4128 microprocessor Speaker Independent and Speaker Dependent capabilities Speaker Verification Continuous listening Allows sets up to 12 words maximum without build limits Low power requirements (2.70V – 3.6V) Development tools Speech recording and playback Voice Direct RSC-356 microprocessor Continuous listening Speaker Dependent Recognizes 60 words/phrases in slave mode,15 in stand-alone mode 8 outputs Up to 99% accuracy achievable HM 2007 Chip Speaker Dependent Isolated Word recognition Recognized up to 40 user programmable words Accuracy greater than 95% Can be used in manual or CPU mode Easy interfacing with other circuits 5 V power supply

35. Training the HM2007 We will be using the demo board that can be purchased from the manufacturer The output from the display to the microcontroller will be relative to the selected word to train, and the microcontroller will output the corresponding bit pattern to the HM2007 chip Interfacing circuit design will be similar to that described in the manual Each command word will be trained to four separate memory locations

36. Interfacing the chip The HM2007 voice chip is interfaced to the main circuit through the LED board. The output must be converted from the encoding used to display values on the LED display Reading from each LED must be decoded and shifted into a single reading to be analyzed by the voice functions of the main MC

37. Voice Command Recognition Algorithm

38. MP3 PLAYER

39. MP3 Player Needed to be controlled by I 2 C. Ideally as little programming as possible. Ability to output analog signals ideal.

40. SPEAKERS

41. Speakers Speakers need to be loud enough to hear Have excellent frequency response Durable enough for movement and other activities Not overly large 3 Types: Subwoofer, Midrange, and Tweeters

42. Speakers: Subwoofer Speaker Specifications of the LAT-250 Impedance4Ω4Ω Max Power Input100 W Frequency Range20-160 Hz Sound Pressure Level @ 1 W91 dB Wattage Designed For10 W Frequency Range Designed For20 Hz – 160 Hz

43. Speakers: Midrange Speaker Specifications of the Eminence Alpha-6 Impedance4Ω4Ω Max Power Input100w Frequency Range150 Hz - 6 kHz Sound Pressure Level @ 1 W91 dB Wattage Designed For7.5 W Frequency Range Designed For160 Hz – 6 kHz

44. Speakers: Tweeters Speaker Specifications of the SB25STC Impedance4 Ω Max Power Input120 W Frequency Range3 kHz – 22 kHz Sound Pressure Level @ 1 W91 dB Wattage Designed For7.5 W Frequency Range Designed For6 kHz – 22 kHz

45. Amplification and Filtering A special topology was used, called the CGIC circuit. Allows for superior sensitivity to component values. Functionally tunable.

46. Amplification and Filtering Needed to pick special cross-over points for speakers. Then needed to use the filtering circuit to create these cross over-points. In the end, designed for 120 dB 3 rd order filters.

47. Amplification and Filtering Needed a GBP that was above 100 kHz. Also needed to be able to handle a large voltage swing. Ideally multiple op- amps on a single board. The LT1058CN was chosen. Specifications of the LT1058 GBP5 Mhz Max Voltage+/- 20V Max Output Current2.8 mA Number of Amplifiers4

48. Amplification and Filtering Final output stage required special powerful op-amp. Little amplification was used to allow for a lower GBP. The LM3886 was chosen. Specifications of the LM3886 GBP8 MHz Max Voltage+/- 84V Max Output Current 11.5 A Number of Amplifiers1

50. Hardware Testing Each system had its own testing procedure. Electrical connections and power on were tested. Then, operations was checked via white noise generator and amplified by 20 dB Functional Tuning Procedure Example Low-Pass Filters Input Part Adjusted Value Changed Measured Value Needed Measurement Sin(ω 0 t)R4R4 ω0ω0 |H(ω 0 )|2 Sin(ω 0 t)R8R8 QpQp Phase of V in – V out -90°

52. Sponsorship Sponsorship provided by the UCF Center for Entrepreneurship and Innovation (CEI) Awarded $2000 Must compete at the Innovation Competition, hosted by CEI, on March 26, 2010

53. Budget Breakdown PART NAMEQUANTITYPRICE (EA)TOTAL PRICE car battery2$39.99$79.98 power chair motors1$0.00 power chair wheels4$0.00 Support wheels2$4.00$8.00 Linear Accuators3$9.95$29.85 LCD Display1$37.00 standard ZIF socket1$4.18 Copper Board10 $53.25 9V Battery Terminal1$1.99 Electrical Tape2$2.00$4.00 9V Battery Terminal2 $5.49 Particle Board2$2.25$4.50 1K Micro Potentiometer3$1.49$2.22 Relay DPDT3$8.86$26.58 Relay SPST3$1.13$3.39 Relays3$3.48$10.44 5V Reed Relays5$2.99$14.95 1N47331$1.39 1N914/41481$1.49 Capacitors, Resistors, and Inductors --$150.00 Phoenix Connectors $5.00 Opamps: TLC08512$8.40$100.80 Opamps: OPA5416$22.20$133.20 Heat Sinks15$1.62$24.30 LM78053$0.75$2.25 74LS0315$0.30$4.50 Power Circuit: LM34786$2.62$15.72 Power Circuit: LM51182$5.59$11.18 Power Circuit: LM27452$3.10$6.20 Power Circuit: LM31512$5.45$10.90 PART NAMEQUANTITYPRICE (EA)TOTAL PRICE Silicon Grease2$2.99$8.94 RS-232 Cable1$19.99 IC Regulator8$3.58$28.64 I/O Expander SPI4$1.51$6.04 PIC 18F45152$6.74$13.48 Switches $2.00 MP3 device1$18.00 Voltage Regulator1$6.75 Silver Solder1$5.49 555 Timer2$0.48$0.96 IR Transmitter Diode (LED for Beacon) 4$0.27$1.08 IR Reciever Transistor (Sensor for Beacon) 6$0.23$1.38 Voice-activation kit2$25.00$50.00 Subwoofer1$25.00 Eminence ALPHA-6A, 6" Midrange 2$39.99$79.98 Tweeters2$25.88$51.76 PICKit 31$69.99 DFRobot URM V3.2 Ultrasonic Sensor 3$20.00$60.00 Assorted Hardware $32.70 12v Charger1$20.94 Exterior $300.00 $1,555.87 Shipping Total $92.27 Tax Total $58.27 Overall Total $1,706.41

54. Acknowledgments Dr. Ford and UCF CEI staff for their financial support Group 18 for their morale support